Scratch resistant fisheye lens with integrated heater

Abstract

Wide-angle optical systems with protective and heating layers are disclosed. A wide-angle optical system can include a fisheye lens, a protective layer disposed over an outer surface of the fisheye lens, and heating layer disposed on an inner surface of the protective layer facing the fisheye lens. The heating layer may comprise a transparent conductive layer configured to provide heat to the protective layer in response to receiving electric current from an electric power supply.

Description

SCRATCH RESISTANT FISHEYE LENS WITH INTEGRATED HEATER[1] This application claims the priority benefit of U.S. Patent Prov. App. 63 / 626443, entitled SCRATCH RESISTANT FISHEYE LENS WITH INTEGRATED HEATER, January 29, 2024, the content of which is incorporated herein by reference in its entirety.BRIEF DESCRIPTION OF THE FIGURES[2] FIG. 1 is an example environment in which a vehicle including one or more components of an autonomous system can be implemented.[3] FIG. 2 is a diagram of one or more example systems of a vehicle including an autonomous system.[4] FIG. 3 is a diagram of components of one or more example devices and / or one or more example systems of FIGS. 1 and 2.[5] FIG. 4A is a diagram of certain components of an example autonomous system.[6] FIG. 4B is a diagram of certain components of an example autonomous system.[7] FIG. 4C is a diagram of certain components of an example autonomous system.[8] FIG. 4D is a diagram of certain components of an example autonomous system.[9] FIG. 5A schematically illustrates a wide-angle optical imaging system.

[0010] FIG. 5B schematically illustrates side cross-sectional view of a wide-angle optical imaging system including curved protective and heating layers disposed on an objective lens of wide- angle optical imaging system having a curved convex surface having substantially the same curvature as the curved protective and heating layers.

[0011] FIGS. 6A-6B schematically illustrate side cross-sectional view (A) and front view (B) a wide- angle optical imaging system that includes layers disposed on an objective lens of wide-angle optical imaging system having a curved convex surface having substantially a curvature different from that of the curved protective and heating layers.

[0012] FIGS. 7A-7B schematically illustrate side cross-sectional view (A) and front view (B) of a wide-angle optical imaging system including protective and heating layers connected to the objective lens by a spacer.DETAILED DESCRIPTION

[0013] In the following description numerous specific details are set forth in order to provide a thorough understanding of the present disclosure for the purposes of explanation. It will beapparent, however, that the embodiments described by the present disclosure can be practiced without these specific details. In some instances, well-known structures and devices are illustrated in block diagram form in order to avoid unnecessarily obscuring aspects of the present disclosure.

[0014] Specific arrangements or orderings of schematic elements, such as those representing systems, devices, modules, instruction blocks, data elements, and / or the like are illustrated in the drawings for ease of description. However, it will be understood by those skilled in the art that the specific ordering or arrangement of the schematic elements in the drawings is not meant to imply that a particular order or sequence of processing, or separation of processes, is required unless explicitly described as such. Further, the inclusion of a schematic element in a drawing is not meant to imply that such element is required in all embodiments or that the features represented by such element may not be included in or combined with other elements in some embodiments unless explicitly described as such.

[0015] Further, where connecting elements such as solid or dashed lines or arrows are used in the drawings to illustrate a connection, relationship, or association between or among two or more other schematic elements, the absence of any such connecting elements is not meant to imply that no connection, relationship, or association can exist. In other words, some connections, relationships, or associations between elements are not illustrated in the drawings so as not to obscure the disclosure. In addition, for ease of illustration, a single connecting element can be used to represent multiple connections, relationships or associations between elements. For example, where a connecting element represents communication of signals, data, or instructions (e.g., “software instructions”), it should be understood by those skilled in the art that such element can represent one or multiple signal paths (e.g., a bus), as may be needed, to affect the communication.

[0016] Although the terms first, second, third, and / or the like are used to describe various elements, these elements should not be limited by these terms. The terms first, second, third, and / or the like are used only to distinguish one element from another. For example, a first contact could be termed a second contact and, similarly, a second contact could be termed a first contact without departing from the scope of the described embodiments. The first contact and the second contact are both contacts, but they are not the same contact.

[0017] The terminology used in the description of the various described embodiments herein is included for the purpose of describing particular embodiments only and is not intended to be limiting. As used in the description of the various described embodiments and the appended claims, the singular forms “a,” “an” and “the” are intended to include the plural forms as well and can be used interchangeably with “one or more” or “at least one,” unless the context clearlyindicates otherwise. It will also be understood that the term “and / or” as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. It will be further understood that the terms “includes,” “including,” “comprises,” and / or “comprising,” when used in this description specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0018] As used herein, the terms “communication” and “communicate” refer to at least one of the reception, receipt, transmission, transfer, provision, and / or the like of information (or information represented by, for example, data, signals, messages, instructions, commands, and / or the like). For one unit (e.g., a device, a system, a component of a device or system, combinations thereof, and / or the like) to be in communication with another unit means that the one unit is able to directly or indirectly receive information from and / or send (e.g., transmit) information to the other unit. This may refer to a direct or indirect connection that is wired and / or wireless in nature. Additionally, two units may be in communication with each other even though the information transmitted may be modified, processed, relayed, and / or routed between the first and second unit. For example, a first unit may be in communication with a second unit even though the first unit passively receives information and does not actively transmit information to the second unit. As another example, a first unit may be in communication with a second unit if at least one intermediary unit (e.g., a third unit located between the first unit and the second unit) processes information received from the first unit and transmits the processed information to the second unit. In some embodiments, a message may refer to a network packet (e.g., a data packet and / or the like) that includes data.

[0019] As used herein, the term “if” is, optionally, construed to mean “when”, “upon”, “in response to determining,” “in response to detecting,” and / or the like, depending on the context. Similarly, the phrase “if it is determined” or “if [a stated condition or event] is detected” is, optionally, construed to mean “upon determining,” “in response to determining,” “upon detecting [the stated condition or event],” “in response to detecting [the stated condition or event],” and / or the like, depending on the context. Also, as used herein, the terms “has”, “have”, “having”, or the like are intended to be open-ended terms. Further, the phrase “based on” is intended to mean “based at least partially on” unless explicitly stated otherwise.

[0020] Reference will now be made in detail to embodiments, examples of which are illustrated in the accompanying drawings. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the various described embodiments. However, it will be apparent to one of ordinary skill in the art that the various describedembodiments can be practiced without these specific details. In other instances, well-known methods, procedures, components, circuits, and networks have not been described in detail so as not to unnecessarily obscure aspects of the embodiments.General Overview

[0021] In some aspects and / or embodiments, systems, methods, and computer program products described herein include and / or implement improvements to the design, manufacture, operation, and / or management of an autonomous vehicle or fleet of such vehicles, components or elements of an autonomous vehicle or fleet of such vehicles, support systems for an autonomous vehicle or fleet of such vehicles, or ancillary systems related to an autonomous vehicle or fleet of such vehicles.

[0022] By virtue of the implementation of systems, methods, and computer program products described herein, techniques for improving autonomous vehicles or fleets of such vehicles are realized (including improvement to the design, manufacture, operation, and / or management of an autonomous vehicle or fleet of such vehicles, components or elements of an autonomous vehicle or fleet of such vehicles, support systems for an autonomous vehicle or fleet of such vehicles, or ancillary systems related to an autonomous vehicle or fleet of such vehicles).

[0023] Further details regarding particular improvements contemplated herein are provided in sections below. It should be understood that statements made within sections below in the context of wide-angle imaging systems should be understood to refer to the embodiments disclosed in the context of wide-angle imaging systems, and not necessarily to all embodiments of the present disclosure. For example, statements within in the context of wide-angle imaging systems indicating that certain features are necessary or essential, to the extent such statements exist, should be understood to refer to the necessity or essentiality of such features with respect to the embodiments of in the sections directed to wide-angle imaging systems. Such statements do not indicate that such features are necessary or essential for all embodiments of the present disclosure. Similarly, term definitions in sections below directed to wide-angle imaging systems should be understood to define terms in the context of wide-angle imaging systems, and such definitions may not apply to the remainder of this disclosure.

[0024] The improvements discussed in the context of wide-angle imaging systems may represent computer-implementable improvements implemented within the systems described herein with respect to FIGS. 1-4. For example, the improvements discussed within the sections directed to wide-angle imaging systems may be implemented in whole or in part by a device 300 of FIG. 3, such as by execution on the processor 304 of FIG. 3 of computer code stored within memory 306of FIG. 3. In one embodiment, the device 300 is located within a vehicle, such as the vehicle 200 of FIG. 2. In another embodiment, the device 300 is located externally to a vehicle, such as in a remote AV system 114, fleet management system 116, or vehicle-to-infrastructure system 118 of FIG. 1. Additionally or alternatively, the improvements discussed within sections directed to wide- angle imaging systems may represent improvement components for elements of FIG. 1 , including improvement components of a vehicle 102, a remote AV system 114, fleet management system 116, or vehicle-to-infrastructure system 118 of FIG. 1. Accordingly, the improvements discussed in the context of wide-angle imaging systems may be bodily incorporated into one or more of the above-mentioned elements of FIG. 1 to improvement such elements. As one example, improvements to LiDAR sensors may be used to modify LiDAR sensor 202b of FIG. 2. Further details regarding an example implementation of the LiDAR sensor 202b of FIG. 2 are provided in U.S. Patent Application No. 17 / 931,051 , entitled “SYSTEMS AND METHODS FOR TIME-OF-FLIGHT (TOF) LIDAR SIGNAL-TO-NOISE IMPROVEMENT” and filed September 9, 2022 (Att’y docket no: MOTN.057A), the entirety of which is hereby incorporated by reference herein.

[0025] Referring now to FIG. 1 , illustrated is example environment 100 in which vehicles that include autonomous systems, as well as vehicles that do not, are operated. As illustrated, environment 100 includes vehicles 102a-102n, objects 104a-104n, routes 106a-106n, area 108, vehicle-to-infrastructure (V2I) device 110, network 112, remote autonomous vehicle (AV) system 114, fleet management system 116, and V2I system 118. Vehicles 102a-102n, vehicle-to- infrastructure (V2I) device 110, network 112, autonomous vehicle (AV) system 114, fleet management system 116, and V2I system 118 interconnect (e.g., establish a connection to communicate and / or the like) via wired connections, wireless connections, or a combination of wired or wireless connections. In some embodiments, objects 104a-104n interconnect with at least one of vehicles 102a-102n, vehicle-to-infrastructure (V2I) device 110, network 112, autonomous vehicle (AV) system 114, fleet management system 116, and V2I system 118 via wired connections, wireless connections, or a combination of wired or wireless connections.

[0026] Vehicles 102a-102n (referred to individually as vehicle 102 and collectively as vehicles 102) include at least one device configured to transport goods and / or people. In some embodiments, vehicles 102 are configured to be in communication with V2I device 110, remote AV system 114, fleet management system 116, and / or V21 system 118 via network 112. In some embodiments, vehicles 102 include cars, buses, trucks, trains, and / or the like. In some embodiments, vehicles 102 are the same as, or similar to, vehicles 200, described herein (see FIG. 2). In some embodiments, a vehicle 200 of a set of vehicles 200 is associated with anautonomous fleet manager. In some embodiments, vehicles 102 travel along respective routes 106a-106n (referred to individually as route 106 and collectively as routes 106), as described herein. In some embodiments, one or more vehicles 102 include an autonomous system (e.g., an autonomous system that is the same as or similar to autonomous system 202).

[0027] Objects 104a-104n (referred to individually as object 104 and collectively as objects 104) include, for example, at least one vehicle, at least one pedestrian, at least one cyclist, at least one structure (e.g., a building, a sign, a fire hydrant, etc.), and / or the like. Each object 104 is stationary (e.g., located at a fixed location for a period of time) or mobile (e.g., having a velocity and associated with at least one trajectory). In some embodiments, objects 104 are associated with corresponding locations in area 108.

[0028] Routes 106a-106n (referred to individually as route 106 and collectively as routes 106) are each associated with (e.g., prescribe) a sequence of actions (also known as a trajectory) connecting states along which an AV can navigate. Each route 106 starts at an initial state (e.g., a state that corresponds to a first spatiotemporal location, velocity, and / or the like) and ends at a final goal state (e.g., a state that corresponds to a second spatiotemporal location that is different from the first spatiotemporal location) or goal region (e.g. a subspace of acceptable states (e.g., terminal states)). In some embodiments, the first state includes a location at which an individual or individuals are to be picked-up by the AV and the second state or region includes a location or locations at which the individual or individuals picked-up by the AV are to be dropped-off. In some embodiments, routes 106 include a plurality of acceptable state sequences (e.g., a plurality of spatiotemporal location sequences), the plurality of state sequences associated with (e.g., defining) a plurality of trajectories. In an example, routes 106 include only high level actions or imprecise state locations, such as a series of connected roads dictating turning directions at roadway intersections. Additionally, or alternatively, routes 106 may include more precise actions or states such as, for example, specific target lanes or precise locations within the lane areas and targeted speed at those positions. In an example, routes 106 include a plurality of precise state sequences along the at least one high level action sequence with a limited lookahead horizon to reach intermediate goals, where the combination of successive iterations of limited horizon state sequences cumulatively correspond to a plurality of trajectories that collectively form the high level route to terminate at the final goal state or region.

[0029] Area 108 includes a physical area (e.g., a geographic region) within which vehicles 102 can navigate. In an example, area 108 includes at least one state (e.g., a country, a province, an individual state of a plurality of states included in a country, etc.), at least one portion of a state, at least one city, at least one portion of a city, etc. In some embodiments, area 108 includes atleast one named thoroughfare (referred to herein as a “road”) such as a highway, an interstate highway, a parkway, a city street, etc. Additionally, or alternatively, in some examples area 108 includes at least one unnamed road such as a driveway, a section of a parking lot, a section of a vacant and / or undeveloped lot, a dirt path, etc. In some embodiments, a road includes at least one lane (e.g., a portion of the road that can be traversed by vehicles 102). In an example, a road includes at least one lane associated with (e.g., identified based on) at least one lane marking.

[0030] Vehicle-to-lnfrastructure (V2I) device 110 (sometimes referred to as a Vehicle-to- Infrastructure or Vehicle-to-Everything (V2X) device) includes at least one device configured to be in communication with vehicles 102 and / or V2I infrastructure system 118. In some embodiments, V2I device 110 is configured to be in communication with vehicles 102, remote AV system 114, fleet management system 116, and / or V2I system 118 via network 112. In some embodiments, V2I device 110 includes a radio frequency identification (RFID) device, signage, cameras (e.g., two-dimensional (2D) and / or three-dimensional (3D) cameras), lane markers, streetlights, parking meters, etc. In some embodiments, V2I device 110 is configured to communicate directly with vehicles 102. Additionally, or alternatively, in some embodiments V2I device 110 is configured to communicate with vehicles 102, remote AV system 114, and / or fleet management system 116 via V2I system 118. In some embodiments, V2I device 110 is configured to communicate with V2I system 118 via network 112.

[0031] Network 112 includes one or more wired and / or wireless networks. In an example, network 112 includes a cellular network (e.g., a long term evolution (LTE) network, a third generation (3G) network, a fourth generation (4G) network, a fifth generation (5G) network, a code division multiple access (CDMA) network, etc.), a public land mobile network (PLMN), a local area network (LAN), a wide area network (WAN), a metropolitan area network (MAN), a telephone network (e.g., the public switched telephone network (PSTN), a private network, an ad hoc network, an intranet, the Internet, a fiber optic-based network, a cloud computing network, etc., a combination of some or all of these networks, and / or the like.

[0032] Remote AV system 114 includes at least one device configured to be in communication with vehicles 102, V2I device 110, network 112, fleet management system 116, and / or V2I system 118 via network 112. In an example, remote AV system 114 includes a server, a group of servers, and / or other like devices. In some embodiments, remote AV system 114 is co-located with the fleet management system 116. In some embodiments, remote AV system 114 is involved in the installation of some or all of the components of a vehicle, including an autonomous system, an autonomous vehicle compute, software implemented by an autonomous vehicle compute,and / or the like. In some embodiments, remote AV system 114 maintains (e.g., updates and / or replaces) such components and / or software during the lifetime of the vehicle.

[0033] Fleet management system 116 includes at least one device configured to be in communication with vehicles 102, V2I device 110, remote AV system 114, and / or V2I infrastructure system 118. In an example, fleet management system 116 includes a server, a group of servers, and / or other like devices. In some embodiments, fleet management system 116 is associated with a ridesharing company (e.g., an organization that controls operation of multiple vehicles (e.g., vehicles that include autonomous systems and / or vehicles that do not include autonomous systems) and / or the like).

[0034] In some embodiments, V2I system 118 includes at least one device configured to be in communication with vehicles 102, V2I device 110, remote AV system 114, and / or fleet management system 116 via network 112. In some examples, V2I system 118 is configured to be in communication with V2I device 110 via a connection different from network 112. In some embodiments, V2I system 118 includes a server, a group of servers, and / or other like devices. In some embodiments, V2I system 118 is associated with a municipality or a private institution (e.g., a private institution that maintains V2I device 110 and / or the like).

[0035] The number and arrangement of elements illustrated in FIG. 1 are provided as an example. There can be additional elements, fewer elements, different elements, and / or differently arranged elements, than those illustrated in FIG. 1. Additionally, or alternatively, at least one element of environment 100 can perform one or more functions described as being performed by at least one different element of FIG. 1. Additionally, or alternatively, at least one set of elements of environment 100 can perform one or more functions described as being performed by at least one different set of elements of environment 100.

[0036] Referring now to FIG. 2, vehicle 200 (which may be the same as, or similar to vehicles 102 of FIG. 1) includes or is associated with autonomous system 202, powertrain control system 204, steering control system 206, and brake system 208. In some embodiments, vehicle 200 is the same as or similar to vehicle 102 (see FIG. 1). In some embodiments, autonomous system 202 is configured to confer vehicle 200 autonomous driving capability (e.g., implement at least one driving automation or maneuver-based function, feature, device, and / or the like that enable vehicle 200 to be partially or fully operated without human intervention including, without limitation, fully autonomous vehicles (e.g., vehicles that forego reliance on human intervention such as Level 5 ADS-operated vehicles), highly autonomous vehicles (e.g., vehicles that forego reliance on human intervention in certain situations such as Level 4 ADS-operated vehicles), conditional autonomous vehicles (e.g., vehicles that forego reliance on human intervention in limitedsituations such as Level 3 ADS-operated vehicles) and / or the like. In one embodiment, autonomous system 202 includes operational or tactical functionality required to operate vehicle 200 in on-road traffic and perform part or all of Dynamic Driving Task (DDT) on a sustained basis. In another embodiment, autonomous system 202 includes an Advanced Driver Assistance System (ADAS) that includes driver support features. Autonomous system 202 supports various levels of driving automation, ranging from no driving automation (e.g., Level 0) to full driving automation (e.g., Level 5). For a detailed description of fully autonomous vehicles and highly autonomous vehicles, reference may be made to SAE International's standard J3016: Taxonomy and Definitions for Terms Related to On-Road Motor Vehicle Automated Driving Systems, which is incorporated by reference in its entirety. In some embodiments, vehicle 200 is associated with an autonomous fleet manager and / or a ridesharing company.

[0037] Autonomous system 202 includes a sensor suite that includes one or more devices such as cameras 202a, LiDAR sensors 202b, radar sensors 202c, and microphones 202d. In some embodiments, autonomous system 202 can include more or fewer devices and / or different devices (e.g., ultrasonic sensors, inertial sensors, GPS receivers (discussed below), odometry sensors that generate data associated with an indication of a distance that vehicle 200 has traveled, and / or the like). In some embodiments, autonomous system 202 uses the one or more devices included in autonomous system 202 to generate data associated with environment 100, described herein. The data generated by the one or more devices of autonomous system 202 can be used by one or more systems described herein to observe the environment (e.g., environment 100) in which vehicle 200 is located. In some embodiments, autonomous system 202 includes communication device 202e, autonomous vehicle compute 202f, drive-by-wire (DBW) system 202h, and safety controller 202g.

[0038] Cameras 202a include at least one device configured to be in communication with communication device 202e, autonomous vehicle compute 202f, and / or safety controller 202g via a bus (e.g., a bus that is the same as or similar to bus 302 of FIG. 3). Cameras 202a include at least one camera (e.g., a digital camera using a light or image sensor such as a Charge Coupled Device (CCD), a thermal camera, an infrared (IR) camera, an event camera, and / or the like) to capture images including physical objects (e.g., cars, buses, curbs, people, and / or the like). In some embodiments, camera 202a generates camera data as output. In some embodiments, the cameras 202a may include one of the wide-angle imaging systems 500, 501 , 600, or 700 described below with respect to FIGS 5A, 5B, 6, and 7. In some embodiments, the cameras 202a may include one or more features described below with respect to the wide-angle imaging systems 500, 501 , 600, or 700. In some examples, camera 202a generates camera data thatincludes image data associated with an image. In this example, the image data may specify at least one parameter (e g., image characteristics such as exposure, brightness, etc., an image timestamp, and / or the like) corresponding to the image. In such an example, the image may be in a format (e.g., RAW, JPEG, PNG, and / or the like). In some embodiments, camera 202a includes a plurality of independent cameras configured on (e.g., positioned on) a vehicle to capture images for the purpose of stereopsis (stereo vision). In some examples, camera 202a includes a plurality of cameras that generate image data and transmit the image data to autonomous vehicle compute 202f and / or a fleet management system (e.g., a fleet management system that is the same as or similar to fleet management system 116 of FIG. 1). In such an example, autonomous vehicle compute 202f determines depth to one or more objects in a field of view of at least two cameras of the plurality of cameras based on the image data from the at least two cameras. In some embodiments, cameras 202a is configured to capture images of objects within a distance from cameras 202a (e.g., up to 100 meters, up to a kilometer, and / or the like). Accordingly, cameras 202a include features such as sensors and lenses that are optimized for perceiving objects that are at one or more distances from cameras 202a.

[0039] In an embodiment, camera 202a includes at least one camera configured to capture one or more images associated with one or more traffic lights, street signs and / or other physical objects that provide visual navigation information. In some embodiments, camera 202a generates traffic light data associated with one or more images. In some examples, camera 202a generates TLD (Traffic Light Detection) data associated with one or more images that include a format (e.g., RAW, JPEG, PNG, and / or the like). In some embodiments, camera 202a that generates TLD data differs from other systems described herein incorporating cameras in that camera 202a can include one or more cameras with a wide field of view (e.g., a wide-angle lens, a fish-eye lens, a lens having a viewing angle of approximately 120 degrees, 150 degrees, 180 degrees, or more, and / or the like) to generate images about as many physical objects as possible. In some embodiments, the camera 202a may include a protective layer (e.g., curved protective layer) disposed over an objective lens (e.g., a wide-angle lens or a fisheye lens) of the camera 202a to protect a front surface of the objective lens, which faces a scene. In some cases, the protective layer may be configured to protect the objective lens (e.g., the front surface of the objective lens) from physical damage (e.g., scratch) while allowing the objective lens to project a wide-angle or ultra-wide-angle image of the scene on an image sensor of the camera 202a.

[0040] Light Detection and Ranging (LiDAR) sensors 202b include at least one device configured to be in communication with communication device 202e, autonomous vehicle compute 202f, and / or safety controller 202g via a bus (e.g., a bus that is the same as or similar to bus 302 ofFIG. 3). LIDAR sensors 202b include a system configured to transmit light from a light emitter (e g., a laser transmitter). Light emitted by LiDAR sensors 202b include light (e.g., infrared light and / or the like) that is outside of the visible spectrum. In some embodiments, during operation, light emitted by LiDAR sensors 202b encounters a physical object (e.g., a vehicle) and is reflected back to LiDAR sensors 202b. In some embodiments, the light emitted by LiDAR sensors 202b does not penetrate the physical objects that the light encounters. LiDAR sensors 202b also include at least one light detector which detects the light that was emitted from the light emitter after the light encounters a physical object. In some embodiments, at least one data processing system associated with LiDAR sensors 202b generates an image (e.g., a point cloud, a combined point cloud, and / or the like) representing the objects included in a field of view of LiDAR sensors 202b. In some examples, the at least one data processing system associated with LiDAR sensor 202b generates an image that represents the boundaries of a physical object, the surfaces (e.g., the topology of the surfaces) of the physical object, and / or the like. In such an example, the image is used to determine the boundaries of physical objects in the field of view of LiDAR sensors 202b.

[0041] Radio Detection and Ranging (radar) sensors 202c include at least one device configured to be in communication with communication device 202e, autonomous vehicle compute 202f, and / or safety controller 202g via a bus (e.g., a bus that is the same as or similar to bus 302 of FIG. 3). Radar sensors 202c include a system configured to transmit radio waves (either pulsed or continuously). The radio waves transmitted by radar sensors 202c include radio waves that are within a predetermined spectrum. In some embodiments, during operation, radio waves transmitted by radar sensors 202c encounter a physical object and are reflected back to radar sensors 202c. In some embodiments, the radio waves transmitted by radar sensors 202c are not reflected by some objects. In some embodiments, at least one data processing system associated with radar sensors 202c generates signals representing the objects included in a field of view of radar sensors 202c. For example, the at least one data processing system associated with radar sensor 202c generates an image that represents the boundaries of a physical object, the surfaces (e.g., the topology of the surfaces) of the physical object, and / or the like. In some examples, the image is used to determine the boundaries of physical objects in the field of view of radar sensors 202c.

[0042] Microphones 202d includes at least one device configured to be in communication with communication device 202e, autonomous vehicle compute 202f, and / or safety controller 202g via a bus (e.g., a bus that is the same as or similar to bus 302 of FIG. 3). Microphones 202d include one or more microphones (e.g., array microphones, external microphones, and / or the like) that capture audio signals and generate data associated with (e.g., representing) the audio signals. Insome examples, microphones 202d include transducer devices and / or like devices. In some embodiments, one or more systems described herein can receive the data generated by microphones 202d and determine a position of an object relative to vehicle 200 (e.g., a distance and / or the like) based on the audio signals associated with the data.

[0043] Communication device 202e includes at least one device configured to be in communication with cameras 202a, LiDAR sensors 202b, radar sensors 202c, microphones 202d, autonomous vehicle compute 202f, safety controller 202g, and / or DBW (Drive-By-Wire) system 202h. For example, communication device 202e may include a device that is the same as or similar to communication interface 314 of FIG. 3. In some embodiments, communication device 202e includes a vehicle-to-vehicle (V2V) communication device (e.g., a device that enables wireless communication of data between vehicles).

[0044] Autonomous vehicle compute 202f include at least one device configured to be in communication with cameras 202a, LiDAR sensors 202b, radar sensors 202c, microphones 202d, communication device 202e, safety controller 202g, and / or DBW system 202h. In some examples, autonomous vehicle compute 202f includes a device such as a client device, a mobile device (e.g., a cellular telephone, a tablet, and / or the like), a server (e.g., a computing device including one or more central processing units, graphical processing units, and / or the like), and / or the like. In some embodiments, autonomous vehicle compute 202f is the same as or similar to autonomous vehicle compute 400, described herein. Additionally, or alternatively, in some embodiments autonomous vehicle compute 202f is configured to be in communication with an autonomous vehicle system (e.g., an autonomous vehicle system that is the same as or similar to remote AV system 114 of FIG. 1), a fleet management system (e.g., a fleet management system that is the same as or similar to fleet management system 116 of FIG. 1), a V2I device (e.g., a V2I device that is the same as or similar to V2I device 110 of FIG. 1), and / or a V2I system (e.g., a V2I system that is the same as or similar to V2I system 118 of FIG. 1).

[0045] Safety controller 202g includes at least one device configured to be in communication with cameras 202a, LiDAR sensors 202b, radar sensors 202c, microphones 202d, communication device 202e, autonomous vehicle computer 202f, and / or DBW system 202h. In some examples, safety controller 202g includes one or more controllers (electrical controllers, electromechanical controllers, and / or the like) that are configured to generate and / or transmit control signals to operate one or more devices of vehicle 200 (e.g., powertrain control system 204, steering control system 206, brake system 208, and / or the like). In some embodiments, safety controller 202g is configured to generate control signals that take precedence over (e.g., overrides) control signals generated and / or transmitted by autonomous vehicle compute 202f.

[0046] DBW system 202h includes at least one device configured to be in communication with communication device 202e and / or autonomous vehicle compute 202f. In some examples, DBW system 202h includes one or more controllers (e.g., electrical controllers, electromechanical controllers, and / or the like) that are configured to generate and / or transmit control signals to operate one or more devices of vehicle 200 (e.g., powertrain control system 204, steering control system 206, brake system 208, and / or the like). Additionally, or alternatively, the one or more controllers of DBW system 202h are configured to generate and / or transmit control signals to operate at least one different device (e.g., a turn signal, headlights, door locks, windshield wipers, and / or the like) of vehicle 200.

[0047] Powertrain control system 204 includes at least one device configured to be in communication with DBW system 202h. In some examples, powertrain control system 204 includes at least one controller, actuator, and / or the like. In some embodiments, powertrain control system 204 receives control signals from DBW system 202h and powertrain control system 204 causes vehicle 200 to make longitudinal vehicle motion, such as start moving forward, stop moving forward, start moving backward, stop moving backward, accelerate in a direction, decelerate in a direction or to make lateral vehicle motion such as performing a left turn, performing a right turn, and / or the like. In an example, powertrain control system 204 causes the energy (e.g. , fuel, electricity, and / or the like) provided to a motor of the vehicle to increase, remain the same, or decrease, thereby causing at least one wheel of vehicle 200 to rotate or not rotate.

[0048] Steering control system 206 includes at least one device configured to rotate one or more wheels of vehicle 200. In some examples, steering control system 206 includes at least one controller, actuator, and / or the like. In some embodiments, steering control system 206 causes the front two wheels and / or the rear two wheels of vehicle 200 to rotate to the left or right to cause vehicle 200 to turn to the left or right. In other words, steering control system 206 causes activities necessary for the regulation of the y-axis component of vehicle motion.

[0049] Brake system 208 includes at least one device configured to actuate one or more brakes to cause vehicle 200 to reduce speed and / or remain stationary. In some examples, brake system 208 includes at least one controller and / or actuator that is configured to cause one or more calipers associated with one or more wheels of vehicle 200 to close on a corresponding rotor of vehicle 200. Additionally, or alternatively, in some examples brake system 208 includes an automatic emergency braking (AEB) system, a regenerative braking system, and / or the like.

[0050] In some embodiments, vehicle 200 includes at least one platform sensor (not explicitly illustrated) that measures or infers properties of a state or a condition of vehicle 200. In some examples, vehicle 200 includes platform sensors such as a global positioning system (GPS)receiver, an inertial measurement unit (I MU), a wheel speed sensor, a wheel brake pressure sensor, a wheel torque sensor, an engine torque sensor, a steering angle sensor, and / or the like. Although brake system 208 is illustrated to be located in the near side of vehicle 200 in FIG. 2, brake system 208 may be located anywhere in vehicle 200.

[0051] Referring now to FIG. 3, illustrated is a schematic diagram of a device 300. As illustrated, device 300 includes processor 304, memory 306, storage component 308, input interface 310, output interface 312, communication interface 314, and bus 302. In some embodiments, device 300 corresponds to at least one device of vehicles 102 (e.g., at least one device of a system of vehicles 102), at least one device of the remote AV system 114, at least one device of the fleet management system 116, at least one device of the vehicle-to-infrastructure system 118, and / or one or more devices of network 112 (e.g., one or more devices of a system of network 112). In some embodiments, one or more devices of vehicles 102 (e.g., one or more devices of a system of vehicles 102), at least one device of the remote AV system 114, at least one device of the fleet management system 116, at least one device of the vehicle-to-infrastructure system 118, and / or one or more devices of network 112 (e.g., one or more devices of a system of network 112) include at least one device 300 and / or at least one component of device 300. As shown in FIG. 3, device 300 includes bus 302, processor 304, memory 306, storage component 308, input interface 310, output interface 312, and communication interface 314.

[0052] Bus 302 includes a component that permits communication among the components of device 300. In some cases, the processor 304 includes a processor (e.g., a central processing unit (CPU), a graphics processing unit (GPU), an accelerated processing unit (APU), and / or the like), a microphone, a digital signal processor (DSP), and / or any processing component (e.g., a field-programmable gate array (FPGA), an application specific integrated circuit (ASIC), and / or the like) that can be programmed to perform at least one function. Memory 306 includes random access memory (RAM), read-only memory (ROM), and / or another type of dynamic and / or static storage device (e.g., flash memory, magnetic memory, optical memory, and / or the like) that stores data and / or instructions for use by processor 304.

[0053] Storage component 308 stores data and / or software related to the operation and use of device 300. In some examples, storage component 308 includes a hard disk (e.g., a magnetic disk, an optical disk, a magneto-optic disk, a solid state disk, and / or the like), a compact disc (CD), a digital versatile disc (DVD), a floppy disk, a cartridge, a magnetic tape, a CD-ROM, RAM, PROM, EPROM, FLASH-EPROM, NV-RAM, and / or another type of computer readable medium, along with a corresponding drive.

[0054] Input interface 310 includes a component that permits device 300 to receive information, such as via user input (e.g., a touchscreen display, a keyboard, a keypad, a mouse, a button, a switch, a microphone, a camera, and / or the like). Additionally or alternatively, in some embodiments input interface 310 includes a sensor that senses information (e.g., a global positioning system (GPS) receiver, an accelerometer, a gyroscope, an actuator, and / or the like). Output interface 312 includes a component that provides output information from device 300 (e.g., a display, a speaker, one or more light-emitting diodes (LEDs), and / or the like).

[0055] In some embodiments, communication interface 314 includes a transceiver-like component (e.g., a transceiver, a separate receiver and transmitter, and / or the like) that permits device 300 to communicate with other devices via a wired connection, a wireless connection, or a combination of wired and wireless connections. In some examples, communication interface 314 permits device 300 to receive information from another device and / or provide information to another device. In some examples, communication interface 314 includes an Ethernet interface, an optical interface, a coaxial interface, an infrared interface, a radio frequency (RF) interface, a universal serial bus (USB) interface, a Wi-Fi® interface, a cellular network interface, and / or the like.

[0056] In some embodiments, device 300 performs one or more processes described herein. Device 300 performs these processes based on processor 304 executing software instructions stored by a computer-readable medium, such as memory 305 and / or storage component 308. A computer-readable medium (e.g., a non-transitory computer readable medium) is defined herein as a non-transitory memory device. A non-transitory memory device includes memory space located inside a single physical storage device or memory space spread across multiple physical storage devices.

[0057] In some embodiments, software instructions are read into memory 306 and / or storage component 308 from another computer-readable medium or from another device via communication interface 314. When executed, software instructions stored in memory 306 and / or storage component 308 cause processor 304 to perform one or more processes described herein. Additionally or alternatively, hardwired circuitry is used in place of or in combination with software instructions to perform one or more processes described herein. Thus, embodiments described herein are not limited to any specific combination of hardware circuitry and software unless explicitly stated otherwise.

[0058] Memory 306 and / or storage component 308 includes data storage or at least one data structure (e.g., a database and / or the like). Device 300 is capable of receiving information from, storing information in, communicating information to, or searching information stored in the datastorage or the at least one data structure in memory 306 or storage component 308. In some examples, the information includes network data, input data, output data, or any combination thereof.

[0059] In some embodiments, device 300 is configured to execute software instructions that are either stored in memory 306 and / or in the memory of another device (e.g., another device that is the same as or similar to device 300). As used herein, the term “module” refers to at least one instruction stored in memory 306 and / or in the memory of another device that, when executed by processor 304 and / or by a processor of another device (e.g., another device that is the same as or similar to device 300) cause device 300 (e.g., at least one component of device 300) to perform one or more processes described herein. In some embodiments, a module is implemented in software, firmware, hardware, and / or the like.

[0060] The number and arrangement of components illustrated in FIG. 3 are provided as an example. In some embodiments, device 300 can include additional components, fewer components, different components, or differently arranged components than those illustrated in FIG. 3. Additionally or alternatively, a set of components (e.g., one or more components) of device 300 can perform one or more functions described as being performed by another component or another set of components of device 300.

[0061] Referring now to FIG. 4, illustrated is an example block diagram of an autonomous vehicle compute 400 (sometimes referred to as an “AV stack”). As illustrated, autonomous vehicle compute 400 includes perception system 402 (sometimes referred to as a perception module), planning system 404 (sometimes referred to as a planning module), localization system 406 (sometimes referred to as a localization module), control system 408 (sometimes referred to as a control module), and database 410. In some embodiments, perception system 402, planning system 404, localization system 406, control system 408, and database 410 are included and / or implemented in an autonomous navigation system of a vehicle (e.g., autonomous vehicle compute 202f of vehicle 200). Additionally, or alternatively, in some embodiments perception system 402, planning system 404, localization system 406, control system 408, and database 410 are included in one or more standalone systems (e.g., one or more systems that are the same as or similar to autonomous vehicle compute 400 and / or the like). In some examples, perception system 402, planning system 404, localization system 406, control system 408, and database 410 are included in one or more standalone systems that are located in a vehicle and / or at least one remote system as described herein. In some embodiments, any and / or all of the systems included in autonomous vehicle compute 400 are implemented in software (e.g., in software instructions stored in memory), computer hardware (e.g., by microprocessors, microcontrollers,application-specific integrated circuits (ASICs), Field Programmable Gate Arrays (FPGAs), and / or the like), or combinations of computer software and computer hardware. It will also be understood that, in some embodiments, autonomous vehicle compute 400 is configured to be in communication with a remote system (e.g., an autonomous vehicle system that is the same as or similar to remote AV system 114, a fleet management system 116 that is the same as or similar to fleet management system 116, a V2I system that is the same as or similar to V2I system 118, and / or the like).

[0062] In some embodiments, perception system 402 receives data associated with at least one physical object (e.g., data that is used by perception system 402 to detect the at least one physical object) in an environment and classifies the at least one physical object. In some examples, perception system 402 receives image data captured by at least one camera (e.g., cameras 202a), the image associated with (e.g., representing) one or more physical objects within a field of view of the at least one camera. In such an example, perception system 402 classifies at least one physical object based on one or more groupings of physical objects (e.g., bicycles, vehicles, traffic signs, pedestrians, and / or the like). In some embodiments, perception system 402 transmits data associated with the classification of the physical objects to planning system 404 based on perception system 402 classifying the physical objects.

[0063] In some embodiments, planning system 404 receives data associated with a destination and generates data associated with at least one route (e.g., routes 106) along which a vehicle (e.g., vehicles 102) can travel along toward a destination. In some embodiments, planning system 404 periodically or continuously receives data from perception system 402 (e.g., data associated with the classification of physical objects, described above) and planning system 404 updates the at least one trajectory or generates at least one different trajectory based on the data generated by perception system 402. In other words, planning system 404 may perform tactical function- related tasks that are required to operate vehicle 102 in on-road traffic. Tactical efforts involve maneuvering the vehicle in traffic during a trip, including but not limited to deciding whether and when to overtake another vehicle, change lanes, or selecting an appropriate speed, acceleration, deacceleration, etc. In some embodiments, planning system 404 receives data associated with an updated position of a vehicle (e.g., vehicles 102) from localization system 406 and planning system 404 updates the at least one trajectory or generates at least one different trajectory based on the data generated by localization system 406.

[0064] In some embodiments, localization system 406 receives data associated with (e.g., representing) a location of a vehicle (e.g., vehicles 102) in an area. In some examples, localization system 406 receives LiDAR data associated with at least one point cloud generated by at leastone LiDAR sensor (e.g., LiDAR sensors 202b). In certain examples, localization system 406 receives data associated with at least one point cloud from multiple LiDAR sensors and localization system 406 generates a combined point cloud based on each of the point clouds. In these examples, localization system 406 compares the at least one point cloud or the combined point cloud to two-dimensional (2D) and / or a three-dimensional (3D) map of the area stored in database 410. Localization system 406 then determines the position of the vehicle in the area based on localization system 406 comparing the at least one point cloud or the combined point cloud to the map. In some embodiments, the map includes a combined point cloud of the area generated prior to navigation of the vehicle. In some embodiments, maps include, without limitation, high-precision maps of the roadway geometric properties, maps describing road network connectivity properties, maps describing roadway physical properties (such as traffic speed, traffic volume, the number of vehicular and cyclist traffic lanes, lane width, lane traffic directions, or lane marker types and locations, or combinations thereof), and maps describing the spatial locations of road features such as crosswalks, traffic signs or other travel signals of various types. In some embodiments, the map is generated in real-time based on the data received by the perception system.

[0065] In another example, localization system 406 receives Global Navigation Satellite System (GNSS) data generated by a global positioning system (GPS) receiver. In some examples, localization system 406 receives GNSS data associated with the location of the vehicle in the area and localization system 406 determines a latitude and longitude of the vehicle in the area. In such an example, localization system 406 determines the position of the vehicle in the area based on the latitude and longitude of the vehicle. In some embodiments, localization system 406 generates data associated with the position of the vehicle. In some examples, localization system 406 generates data associated with the position of the vehicle based on localization system 406 determining the position of the vehicle. In such an example, the data associated with the position of the vehicle includes data associated with one or more semantic properties corresponding to the position of the vehicle.

[0066] In some embodiments, control system 408 receives data associated with at least one trajectory from planning system 404 and control system 408 controls operation of the vehicle. In some examples, control system 408 receives data associated with at least one trajectory from planning system 404 and control system 408 controls operation of the vehicle by generating and transmitting control signals to cause a powertrain control system (e.g., DBW system 202h, powertrain control system 204, and / or the like), a steering control system (e.g., steering control system 206), and / or a brake system (e.g., brake system 208) to operate. For example, controlsystem 408 is configured to perform operational functions such as a lateral vehicle motion control or a longitudinal vehicle motion control. The lateral vehicle motion control causes activities necessary for the regulation of the y-axis component of vehicle motion. The longitudinal vehicle motion control causes activities necessary for the regulation of the x-axis component of vehicle motion. In an example, where a trajectory includes a left turn, control system 408 transmits a control signal to cause steering control system 206 to adjust a steering angle of vehicle 200, thereby causing vehicle 200 to turn left. Additionally, or alternatively, control system 408 generates and transmits control signals to cause other devices (e.g., headlights, turn signal, door locks, windshield wipers, and / or the like) of vehicle 200 to change states.

[0067] In some embodiments, perception system 402, planning system 404, localization system 406, and / or control system 408 implement at least one machine learning model (e.g., at least one multilayer perceptron (MLP), at least one convolutional neural network (CNN), at least one recurrent neural network (RNN), at least one autoencoder, at least one transformer, and / or the like). In some examples, perception system 402, planning system 404, localization system 406, and / or control system 408 implement at least one machine learning model alone or in combination with one or more of the above-noted systems. In some examples, perception system 402, planning system 404, localization system 406, and / or control system 408 implement at least one machine learning model as part of a pipeline (e.g., a pipeline for identifying one or more objects located in an environment and / or the like). An example of an implementation of a machine learning model is included below with respect to FIGS. 4B-4D.

[0068] Database 410 stores data that is transmitted to, received from, and / or updated by perception system 402, planning system 404, localization system 406 and / or control system 408. In some examples, database 410 includes a storage component (e.g., a storage component that is the same as or similar to storage component 308 of FIG. 3) that stores data and / or software related to the operation and uses at least one system of autonomous vehicle compute 400. In some embodiments, database 410 stores data associated with 2D and / or 3D maps of at least one area. In some examples, database 410 stores data associated with 2D and / or 3D maps of a portion of a city, multiple portions of multiple cities, multiple cities, a county, a state, a State (e.g., a country), and / or the like). In such an example, a vehicle (e.g., a vehicle that is the same as or similar to vehicles 102 and / or vehicle 200) can drive along one or more drivable regions (e.g., single-lane roads, multi-lane roads, highways, back roads, off road trails, and / or the like) and cause at least one LiDAR sensor (e.g., a LiDAR sensor that is the same as or similar to LiDAR sensors 202b) to generate data associated with an image representing the objects included in a field of view of the at least one LiDAR sensor.

[0069] In some embodiments, database 410 can be implemented across a plurality of devices. In some examples, database 410 is included in a vehicle (e.g., a vehicle that is the same as or similar to vehicles 102 and / or vehicle 200), an autonomous vehicle system (e.g., an autonomous vehicle system that is the same as or similar to remote AV system 114, a fleet management system (e.g., a fleet management system that is the same as or similar to fleet management system 116 of FIG. 1, a V2I system (e.g., a V2I system that is the same as or similar to V2I system 118 of FIG. 1) and / or the like.

[0070] Referring now to FIG. 4B, illustrated is a diagram of an implementation of a machine learning model. More specifically, illustrated is a diagram of an implementation of a convolutional neural network (CNN) 420. For purposes of illustration, the following description of CNN 420 will be with respect to an implementation of CNN 420 by perception system 402. However, it will be understood that in some examples CNN 420 (e.g., one or more components of CNN 420) is implemented by other systems different from, or in addition to, perception system 402 such as planning system 404, localization system 406, and / or control system 408. While CNN 420 includes certain features as described herein, these features are provided for the purpose of illustration and are not intended to limit the present disclosure.

[0071] CNN 420 includes a plurality of convolution layers including first convolution layer 422, second convolution layer 424, and convolution layer 426. In some embodiments, CNN 420 includes sub-sampling layer 428 (sometimes referred to as a pooling layer). In some embodiments, sub-sampling layer 428 and / or other subsampling layers have a dimension (i.e. , an amount of nodes) that is less than a dimension of an upstream system. By virtue of subsampling layer 428 having a dimension that is less than a dimension of an upstream layer, CNN 420 consolidates the amount of data associated with the initial input and / or the output of an upstream layer to thereby decrease the amount of computations necessary for CNN 420 to perform downstream convolution operations. Additionally, or alternatively, by virtue of subsampling layer 428 being associated with (e.g., configured to perform) at least one subsampling function (as described below with respect to FIGS. 4C and 4D), CNN 420 consolidates the amount of data associated with the initial input.

[0072] Perception system 402 performs convolution operations based on perception system 402 providing respective inputs and / or outputs associated with each of first convolution layer 422, second convolution layer 424, and convolution layer 426 to generate respective outputs. In some examples, perception system 402 implements CNN 420 based on perception system 402 providing data as input to first convolution layer 422, second convolution layer 424, and convolution layer 426. In such an example, perception system 402 provides the data as input tofirst convolution layer 422, second convolution layer 424, and convolution layer 426 based on perception system 402 receiving data from one or more different systems (e g., one or more systems of a vehicle that is the same as or similar to vehicle 102), a remote AV system that is the same as or similar to remote AV system 114, a fleet management system that is the same as or similar to fleet management system 116, a V2I system that is the same as or similar to V2I system 118, and / or the like). A detailed description of convolution operations is included below with respect to FIG. 4C.

[0073] In some embodiments, perception system 402 provides data associated with an input (referred to as an initial input) to first convolution layer 422 and perception system 402 generates data associated with an output using first convolution layer 422. In some embodiments, perception system 402 provides an output generated by a convolution layer as input to a different convolution layer. For example, perception system 402 provides the output of first convolution layer 422 as input to sub-sampling layer 428, second convolution layer 424, and / or convolution layer 426. In such an example, first convolution layer 422 is referred to as an upstream layer and sub-sampling layer 428, second convolution layer 424, and / or convolution layer 426 are referred to as downstream layers. Similarly, in some embodiments perception system 402 provides the output of sub-sampling layer 428 to second convolution layer 424 and / or convolution layer 426 and, in this example, sub-sampling layer 428 would be referred to as an upstream layer and second convolution layer 424 and / or convolution layer 426 would be referred to as downstream layers.

[0074] In some embodiments, perception system 402 processes the data associated with the input provided to CNN 420 before perception system 402 provides the input to CNN 420. For example, perception system 402 processes the data associated with the input provided to CNN 420 based on perception system 402 normalizing sensor data (e.g., image data, LiDAR data, radar data, and / or the like).

[0075] In some embodiments, CNN 420 generates an output based on perception system 402 performing convolution operations associated with each convolution layer. In some examples, CNN 420 generates an output based on perception system 402 performing convolution operations associated with each convolution layer and an initial input. In some embodiments, perception system 402 generates the output and provides the output as fully connected layer 430. In some examples, perception system 402 provides the output of convolution layer 426 as fully connected layer 430, where fully connected layer 430 includes data associated with a plurality of feature values referred to as F1 , F2 . . . FN. In this example, the output of convolution layer 426 includes data associated with a plurality of output feature values that represent a prediction.

[0076] In some embodiments, perception system 402 identifies a prediction from among a plurality of predictions based on perception system 402 identifying a feature value that is associated with the highest likelihood of being the correct prediction from among the plurality of predictions. For example, where fully connected layer 430 includes feature values F1 , F2, . . . FN, and F1 is the greatest feature value, perception system 402 identifies the prediction associated with F1 as being the correct prediction from among the plurality of predictions. In some embodiments, perception system 402 trains CNN 420 to generate the prediction. In some examples, perception system 402 trains CNN 420 to generate the prediction based on perception system 402 providing training data associated with the prediction to CNN 420.

[0077] Referring now to FIGS. 4C and 4D, illustrated is a diagram of example operation of CNN 440 by perception system 402. In some embodiments, CNN 440 (e.g., one or more components of CNN 440) is the same as, or similar to, CNN 420 (e.g., one or more components of CNN 420) (see FIG. 4B).

[0078] At step 450, perception system 402 provides data associated with an image as input to CNN 440 (step 450). For example, as illustrated, perception system 402 provides the data associated with the image to CNN 440, where the image is a greyscale image represented as values stored in a two-dimensional (2D) array. In some embodiments, the data associated with the image may include data associated with a color image, the color image represented as values stored in a three-dimensional (3D) array. Additionally, or alternatively, the data associated with the image may include data associated with an infrared image, a radar image, and / or the like.

[0079] At step 455, CNN 440 performs a first convolution function. For example, CNN 440 performs the first convolution function based on CNN 440 providing the values representing the image as input to one or more neurons (not explicitly illustrated) included in first convolution layer 442. In this example, the values representing the image can correspond to values representing a region of the image (sometimes referred to as a receptive field). In some embodiments, each neuron is associated with a filter (not explicitly illustrated). A filter (sometimes referred to as a kernel) is representable as an array of values that corresponds in size to the values provided as input to the neuron. In one example, a filter may be configured to identify edges (e.g., horizontal lines, vertical lines, straight lines, and / or the like). In successive convolution layers, the filters associated with neurons may be configured to identify successively more complex patterns (e.g., arcs, objects, and / or the like).

[0080] In some embodiments, CNN 440 performs the first convolution function based on CNN 440 multiplying the values provided as input to each of the one or more neurons included in first convolution layer 442 with the values of the filter that corresponds to each of the one or moreneurons. For example, CNN 440 can multiply the values provided as input to each of the one or more neurons included in first convolution layer 442 with the values of the filter that corresponds to each of the one or more neurons to generate a single value or an array of values as an output. In some embodiments, the collective output of the neurons of first convolution layer 442 is referred to as a convolved output. In some embodiments, where each neuron has the same filter, the convolved output is referred to as a feature map.

[0081] In some embodiments, CNN 440 provides the outputs of each neuron of first convolutional layer 442 to neurons of a downstream layer. For purposes of clarity, an upstream layer can be a layer that transmits data to a different layer (referred to as a downstream layer). For example, CNN 440 can provide the outputs of each neuron of first convolutional layer 442 to corresponding neurons of a subsampling layer. In an example, CNN 440 provides the outputs of each neuron of first convolutional layer 442 to corresponding neurons of first subsampling layer 444. In some embodiments, CNN 440 adds a bias value to the aggregates of all the values provided to each neuron of the downstream layer. For example, CNN 440 adds a bias value to the aggregates of all the values provided to each neuron of first subsampling layer 444. In such an example, CNN 440 determines a final value to provide to each neuron of first subsampling layer 444 based on the aggregates of all the values provided to each neuron and an activation function associated with each neuron of first subsampling layer 444.

[0082] At step 460, CNN 440 performs a first subsampling function. For example, CNN 440 can perform a first subsampling function based on CNN 440 providing the values output by first convolution layer 442 to corresponding neurons of first subsampling layer 444. In some embodiments, CNN 440 performs the first subsampling function based on an aggregation function. In an example, CNN 440 performs the first subsampling function based on CNN 440 determining the maximum input among the values provided to a given neuron (referred to as a max pooling function). In another example, CNN 440 performs the first subsampling function based on CNN 440 determining the average input among the values provided to a given neuron (referred to as an average pooling function). In some embodiments, CNN 440 generates an output based on CNN 440 providing the values to each neuron of first subsampling layer 444, the output sometimes referred to as a subsampled convolved output.

[0083] At step 465, CNN 440 performs a second convolution function. In some embodiments, CNN 440 performs the second convolution function in a manner similar to how CNN 440 performed the first convolution function, described above. In some embodiments, CNN 440 performs the second convolution function based on CNN 440 providing the values output by first subsampling layer 444 as input to one or more neurons (not explicitly illustrated) included insecond convolution layer 446. In some embodiments, each neuron of second convolution layer 446 is associated with a filter, as described above. The filter(s) associated with second convolution layer 446 may be configured to identify more complex patterns than the filter associated with first convolution layer 442, as described above.

[0084] In some embodiments, CNN 440 performs the second convolution function based on CNN 440 multiplying the values provided as input to each of the one or more neurons included in second convolution layer 446 with the values of the filter that corresponds to each of the one or more neurons. For example, CNN 440 can multiply the values provided as input to each of the one or more neurons included in second convolution layer 446 with the values of the filter that corresponds to each of the one or more neurons to generate a single value or an array of values as an output.

[0085] In some embodiments, CNN 440 provides the outputs of each neuron of second convolutional layer 446 to neurons of a downstream layer. For example, CNN 440 can provide the outputs of each neuron of first convolutional layer 442 to corresponding neurons of a subsampling layer. In an example, CNN 440 provides the outputs of each neuron of first convolutional layer 442 to corresponding neurons of second subsampling layer 448. In some embodiments, CNN 440 adds a bias value to the aggregates of all the values provided to each neuron of the downstream layer. For example, CNN 440 adds a bias value to the aggregates of all the values provided to each neuron of second subsampling layer 448. In such an example, CNN 440 determines a final value to provide to each neuron of second subsampling layer 448 based on the aggregates of all the values provided to each neuron and an activation function associated with each neuron of second subsampling layer 448.

[0086] At step 470, CNN 440 performs a second subsampling function. For example, CNN 440 can perform a second subsampling function based on CNN 440 providing the values output by second convolution layer 446 to corresponding neurons of second subsampling layer 448. In some embodiments, CNN 440 performs the second subsampling function based on CNN 440 using an aggregation function. In an example, CNN 440 performs the first subsampling function based on CNN 440 determining the maximum input or an average input among the values provided to a given neuron, as described above. In some embodiments, CNN 440 generates an output based on CNN 440 providing the values to each neuron of second subsampling layer 448.

[0087] At step 475, CNN 440 provides the output of each neuron of second subsampling layer 448 to fully connected layers 449. For example, CNN 440 provides the output of each neuron of second subsampling layer 448 to fully connected layers 449 to cause fully connected layers 449 to generate an output. In some embodiments, fully connected layers 449 are configured togenerate an output associated with a prediction (sometimes referred to as a classification). The prediction may include an indication that an object included in the image provided as input to CNN 440 includes an object, a set of objects, and / or the like. In some embodiments, perception system 402 performs one or more operations and / or provides the data associated with the prediction to a different system, described herein.

[0088] As discussed above, the above-noted systems and / or processors may be modified to incorporate the improvements disclosed in the context of wide-angle imaging systems.

[0089] In the foregoing description, aspects and embodiments of the present disclosure have been described with reference to numerous specific details that can vary from implementation to implementation. Accordingly, the description and drawings are to be regarded in an illustrative rather than a restrictive sense. The sole and exclusive indicator of the scope of the invention, and what is intended by the applicants to be the scope of the invention, is the literal and equivalent scope of the set of claims that issue from this application, in the specific form in which such claims issue, including any subsequent correction. Any definitions expressly set forth herein for terms contained in such claims shall govern the meaning of such terms as used in the claims. In addition, when we use the term “further comprising,” in the foregoing description or following claims, what follows this phrase can be an additional step or entity, or a sub-step / sub-entity of a previously- recited step or entity.Wide-angle imaging systems with protective and heating layers

[0090] Wide-angle and ultra-wide angle imaging systems (herein collectively referred to as wide- angle imaging systems) can be used in various systems including but not limited to security and navigation or other applications where a large portion of a surrounding environment may be captured and projected on an image sensor to generate an image signal that can include a digital image. In some cases, a wide-angle and ultra-wide camera may include wide-angle or ultra-wide angle imaging system. Such wide-angle imaging systems may use wide-angle or fisheye lenses with small focal lengths that are configured to provide a large field of view (FOV). A fisheye lens can be a type of ultra-wide-angle lens designed and formed to provide a wide panoramic or hemispherical image of a scene. Fisheye lenes can have very wide FOV, close to 150 degrees, close to 180 degrees or larger and focal lengths, from 6 to 8 millimeter (mm), from 8 to 10 mm, from 10 to 12 mm, from 12 to 14 mm, from 14 to 16 mm, from 16 to 18 mm, from 18 to 20 mm or any range formed by these values or larger or smaller values. In some examples, a fisheye lens can be a circular fisheye lens that provides a wide field circular image or a full-frame fisheye lens that provides a wide field across the diagonal of an image sensor. In some examples, FOV (e.g.,a diagonal, horizontal, or vertical FOV) of a fisheye lens can be from 100 to 120 degrees, from 120 to 150 degrees, from 150 degrees to 170 degrees, from 170 degrees to 200 degrees, or any range formed by these values or more.

[0091] In some embodiments, a wide-field imaging system may be used by the navigation system of an autonomous or semi-autonomous vehicle to monitor an environment surrounding the vehicle. For example, as described above, the camera 202a of the vehicle 200 can include a camera and / or an imaging system with a wide field of view (e.g., a wide-angle lens, a fish-eye lens, a lens having a viewing angle of approximately 120 degrees or more, and / or the like) to generate images about as many physical objects as possible around the vehicle.

[0092] In various applications, such as environmental monitoring and navigation, a wide-field imaging system may be exposed to harsh environmental conditions and / or may be susceptible to physical damage (e.g., scratch) by direct physical contact with objects and / or particles in the surrounding environment. For example, a wide-field imaging system used by the navigation system of an autonomous or semi-autonomous vehicle, to monitor an environment surrounding the vehicle, may be exposed to atmospheric / environmental conditions, and / or physical impact that may scratch or otherwise reduce the optical quality of an exposed surface (e.g., a front or outer surface facing a scene) of a wide-angle or fisheye lens configured to capture images of the scene (e.g., a scene surrounding a vehicle) within a large field of view (e.g., larger than 100 degrees, 150 degrees, or 180 degrees).

[0093] In various implementations, a camera or an imaging system can be placed in an enclosure (e.g., a sensor pod) having a window, through which light can enter an objective lens of the camera, to avoid damage to an optical surface serving as the entrance surface of the camera. In some cases, protecting the exposed (e.g., the outer surface) of the wide-angle or fisheye lens of a wide-angle imaging system using a window (e.g., a window connected to the sensor pod containing the imaging system) can reduce the FOV of a wide-angle imaging system, the amount of light transmitted to the objective lens (e.g., wide-angle or fisheye lens), and in some cases, reduce the quality of the images captured by the wide-angle imaging system. For example, when the fisheye lens of an imaging system having an FOV of 180 degrees or larger, enclosing the fisheye lens in a sensor pod or protecting the fisheye lens with a window (e.g., flat window) may reduce the FOV below 180 degrees or lower and limit the amount of light received by the imaging system to form an image. In some cases, internal reflections by the window or otherwise a transparent portion of the sensor pod (e.g., associated with high field angle) can significantly reduce light redirected to an image sensor of the imaging system and / or distort the image formed on the image sensor.

[0094] Some of the embodiments disclosed herein, include a customized window or protective layer (e.g., a customized transparent dome) that can be configured to protect a wide-angle or a fisheye objective lens of an imaging system (e.g., a wide-angle imaging system) without reducing (or minimally reducing) the FOV of the imaging system, the image quality, and / or relative illumination of an image formed on the corresponding image sensor. In some embodiments, the protective layer may include a scratch resistant transparent layer having a hardness larger than that of the objective lens of the imaging system (e.g., a fisheye lens or a wide-angle lens). Further, the protective layer can have a refractive index larger than that of the objective lens. In some examples, the refractive index of the protective layer can be larger than the refractive index of the objective lens and the difference between the refractive indices of the protective layer and the objective lens can be from 0.1 to 0.2, from 0.2 to 0.3, from 0.3 to 0.4 or any ranges formed by these values or larger or smaller values. In some embodiments, the protective layer may have a geometry substantially or closely matching that of the objective lens. In some embodiments, the protective layer may include a shape matching that of the objective lens but having a parameter with a different value. For example, when the front or outer surface of the objective lens, facing an imaged scene, is spherical or near spherical, the protective layer can be a spherical or near spherical shell or window, having a different curvature (e.g., smaller). In some examples, radius of curvature of the protective layer can be smaller a corresponding radius of curvature of the objective lens and the difference between the radii of curvature can be from 2 to 5 micrometers (microns), from 5 to 10 microns, from 10 to 100 microns, from 100 to 1000 microns, from 1 to 3 mm, from 3 to 5 mm or any ranges formed by these values or larger or smaller values.

[0095] In some embodiments, the protective layer can be a dome-shaped layer or window comprising sapphire or another scratch resistant material (e.g., Polycarbonate, Acrylic, specialized scratch resistant glasses, or the like) with low optical absorption loss within an operational wavelength range of the corresponding imaging system. In some examples, the transparent protective layer may provide an optical transmission larger than 80%, larger than 90%, larger than 95%, or more for light (or electromagnetic radiation) having wavelengths within the operational wavelength range of the wide-field of view imaging system. In some embodiments, the operational wavelength range of a wide-field of view imaging system can be within visible wavelength range (e.g., from 380 nm to 780 nm), near-IR wavelength range (e.g., from 780 nm to 1800 nm), mid-wave IR (MWIR) wavelength range (e.g., from 1.8 microns to 6 microns), or long-wave IR (LWIR) wavelength range (e.g., from 6 microns to 14 microns),. In some cases, the protective layer may conform to a curvature of the objective lens (e.g., curvature of an outer lens surface facing an imaged scene). In some embodiments, the protective layer may be disposedover and / or can be mechanically connected to the objective lens. In some cases, protective layer can be mechanically connected to a sensor pod or enclosure containing at least a portion of the corresponding imaging system (e.g., one or more of a portion of the objective lens, a group of imaging lenses and an image sensor).

[0096] In some embodiments, at least a portion of the protective layer may be separated from the objective lens (e.g., a wide-angle or a fisheye lens) by a gap between the protective layer (e.g., an inner surface of the protective layer) and an outer surface of the objective lens facing the protective layer and an imaged scene. In some such embodiments, the gap may allow air flow or otherwise a fluidic flow between a region between the protective layer and the objective lens and a surrounding environment (or, internal volume of sensor pod). In some embodiments, the gap may be provided by making the radius of curvature of the protective layer smaller than the radius of curvature of the outer surface of the objective lens. In some embodiments, the gap may be provided by a spacer disposed between the protective layer and the outer surface of the objective lens. In some examples, the spacer may be disposed near an edge region of the protective layer and the objective lens. In some cases, the space may include a material that is transparent within the operational wavelength range of the imaging system.

[0097] In some embodiments, a heating layer may be disposed between the protective layer and the objective lens to controllably generate and provide heat to at least the protective layer and to control the temperature of the protective layer (e.g., keep its temperature above a lower bound) and thereby prevent formation of ice, water, or other residues over an outer surface (e.g., convex outer surface) of the protective layer. In some cases, the heating layer can be disposed on an inner surface (e.g., inner concave surface facing the objective lens) of the protective layer. In some cases, where the objective lens is at least partially separated from the protective layer by a gap, the heating layer can be disposed on an inner surface (e.g., inner concave surface) of the protective layer and can be separated from the outer surface (e.g., outer convex surface) of the objective lens by the gap. In some cases, the gap between the protective layer and / or the heating layer and the front surface of objective lens can be a uniform gap or a tapered gap (e.g., tapered from a center or central region near an optical axis of the objective lens toward the edge region). In some cases, the size of a uniform gap or maximum size of a tapered gap between the protective layer and / or the heating layer and the front surface of objective lens can be from 0.5 to 1 micron, from 1 to 2 microns, from 2 to 5 microns, from 5 to 10 microns, from 10 to 100 microns, from 100 to 250 microns, from 250 to 500 microns, from 500 microns to 1 mm, from 1 mm to 5 mm or any ranges formed by these values or larger or smaller values.

[0098] In some cases, the protective layer may include hard material, such as sapphire or specialized glass, having a hardness greater than greater than 500 Knoop (KHN), 700 Knoop (KHN), greater than 1000 Knoop (KHN), greater than 1500 Knoop, greater than 1800 Knoop, or more. In some cases, the hardness of the protective layer can be greater than the hardness of the objective lens by more than 100 Knoop (KHN), more than 200 Knoop, more than 500 Knoop, more than 1000 Knoop, or more.

[0099] In some cases, the heating layer may include an indium tin oxide (ITO) layer, a carbon nanotube (CNT) layer, or a layer including or formed by conductive nanoparticles and / or nanowires (e.g., silver nanowires). However, the embodiments are not so limited and layers having other compositions may be used as the heating layer. In some embodiments, heating layer can be a conductive transparent layer that generates heat upon receiving electric current while allowing light having wavelengths within the operational wavelength range of the corresponding imaging system to be transmitted (e.g., with a transmission greater that 80% or 90%).

[0100] FIG. 5A schematically illustrates a cross-sectional side view of an example wide-angle imaging system 500 or camera comprising an objective lens 502, and a group of lenses 504 configured to form an image of a scene on an image sensor 516 over a very large FOV 507 (e.g., a FOV greater than 120, greater than 140, or greater than 160 degrees). In some embodiments, the objective lens 502 can be a fisheye lens having a focal length smaller than 8 mm, smaller than 10 mm, smaller than 12 mm, smaller than 14 mm, or smaller than 16 mm. The group of lenses 504 (herein referred to as imaging lens group) may include a plurality of positive, negative, achromatic, compound, and / or other types of lenses selected and positioned to form an image of the scene using light rays redirected by the objective lens 502 from the large FOV 507 to the imaging lens group 504. In some cases, an aperture may be disposed between two lenes of the imaging lens group 504 or between the imaging lens group 504 and the objective lens 502. In the example shown, the imaging lens group 504 includes a first positive lens 506 (e.g., a plano-convex lens), an aperture 508, a negative doublet (e.g., achromatic doublet), a positive doublet (e.g., achromatic doublet), and a negative lens 514 (e.g., a meniscus lens). It will be understood, however, that the imaging lens group 504 may include fewer (e.g., one lens) or more lenses (e.g., more than two, three, four, or more lenses). Accordingly, the example imaging lens group 504 should not be construed as limiting.

[0101] In some embodiments, a portion of the objective lens 502, the imaging lens group 504, and the image sensor 516 may be contained within an enclosure 518 (e.g., a sensor pod). In some cases, an outer portion of the objective lens 502 may be exposed to an environment surrounding the imaging system 500 and an inner portion of the objective lens 502 may bepositioned inside the enclosure 518. In some cases, the outer portion of the objective lens 502 can include an outer surface of the objective lens 502 through which light rays are received and redirected to the imaging lens group 504 to form the image on the image sensor 516.

[0102] In various implementations, the image sensor 516 may be configured to generate an image signal in response to receiving an image formed by light having wavelengths within an operation wavelength range of the imaging system 500 from the imaging lens group 504. In some cases, the operation wavelength range of the imaging system 500 can be withing visible or infrared (IF?) wavelength range (e.g., near, mid-wave, or long-wave infrared). Accordingly, the objective lens 502 and the imaging lens group 504 may be configured to transmit light having wavelengths within the operating wavelength range. For example, objective lens 502 and the imaging lens group 504 may be formed from materials having low absorption within the operating wavelength range. In some examples, the objective lens 502 may include silica glass for visible and near-IR imaging, or zinc selenide, zinc sulfide, chalcogenide glasses, tellurite glasses, germanium, silicon, for mid-wave IR or long-wave IR imaging. However, the embodiments are not so limited and the objective lens 502 may include other materials having low absorption within the operational wavelength range of the imaging system. In some embodiments, the objective lens 502 can have a diameter (D), in a plane perpendicular to optical axis 520 of the imaging system 500, where D can be from 2 mm to 1 cm, from 1 cm to 5 cm, from 5 cm to 10 cm, from 10 cm to 15 cm, or more. In some embodiments, the objective lens 502 may include a wide-angle or fisheye lens having a convex surface (e.g., entrance surface facing the scene) with a first radius of curvature diameter (R1), and a concave surface (e.g., an exit surface facing the imaging lens group) with a second radius of curvature (R2). In some examples, R1 can be larger than R2 by a factor greater than 2, 3, 4, 6, 8, 10 or more. In some examples, R1 can be from 5 mm to 1 cm, from 1 cm to 5 cm, from 5 cm to 10 cm, from 10 cm to 15 cm or more.

[0103] In some embodiments, a protective layer may be formed over the outer surface (e.g., the convex outer surface) of the objective lens 502 that faces an imaged scene. In some cases, the protective layer may include a dome-shaped layer having substantially uniform thickness, formed on the outer surface of the objective lens 502. In some cases, the protective layer may include a double-dome. In some examples, the thickness (or maximum thickness) of the protective layer can be from 0.1 mm to 0.5 mm, 0.5 mm to 0.7 mm, from 0.7 mm to 1 mm, from 1 mm to 3 mm, from 3 mm to 5 mm, from 5 mm to 7mm or any range formed by these values or larger or smaller values. In some cases, the protective layer may include sapphire or another hard and / or scratch resistant material (e.g., a material having hardness larger than 600 Knoop or larger than 100 Knoop).

[0104] In some implementations, the protective layer may be formed or fabricated separate from the objective lens 502 and then attached (e.g., bonded) to the objective lens using a bonding method (e.g., thermal bonding) or an adhesive. In some examples, the protective layer may include a curved layer with a substantially uniform thickness between a convex outer surface and a concave inner surface. In some examples, the radius of curvature of the protective layer can be substantially equal to radius of curvature (R1) of an outer surface (e.g., convex surface) of the objective lens 502. In some such examples, the protective layermay be connected to the objective lens 502 via a common interface extending to a central region of the objective lens 503 near optical axis 520 of the imaging system 500. In some examples, the radius of curvature of the protective layer can be greater or smaller than R1. In some embodiments, where the radius of curvature of the protective layer is smaller than R1 , the protective layer can be connected to a region of the objective lens near an edge or corner of the objective lens 502. In various implementations, the protective layer may be fabricated using etching (wet or dry), molding, polishing, or a combination thereof.

[0105] FIG. 5B schematically illustrates a cross-sectional side view of a wide-angle imaging system 501 comprising a fisheye (or a wide-angle) objective lens 503 protected by a protective layer 505 formed thereon, and an imaging lens group 504. The wide-angle imaging system 501 can include one or more features described above with respect to the imaging system 500. In some cases, the protective layer 505 may be disposed or bonded on the convex outer surface of the objective lens 503 to form a composite objective lens having an outer surface that can be resistant to mechanical damage (e.g., being scratched). In some cases, the protective layer 505 can conform to the radius of curvature (R1) to the outer surface of the objective lens 503. As such the protective layer 505 and the objective lens 503 may share a continuous interface extending from a central region (near the optical axis 520) to edge regions of the protective layer 505 and the objective lens 503 (away from the optical axis 520). In some implementations, the thickness of the protective layer 505 along its radius of curvature (and thereby the convex radius of curvature, R1 , of the objective lens 503) can be from 0.01 to 0.1 mm, from 0.1 0.5 mm, from 0.5 to 1 mm, from 1 to 2 mm, from 2 to 3 mm, from 3 to 5 mm, or any ranges formed by these values or larger or smaller values.

[0106] In some embodiments, the imaging system 501 may further include a heating layer (not shown) formed between the protective layer 505 and the objective lens 503. In some examples, the heating layer can be an electric heating layer configured to generate heat and increase the temperature of at least the protective layer 505 in response to receiving electric current from a source of electric power (e.g., an electric power supply). The heating layer may include a curvedsurface conforming to the curvature of the concave surface of the protective layer 505 and the convex surface of the objective lens 503. In some examples, a thickness of the heating layer (e.g., along a radial direction perpendicular to the concave major surface of the protective layer 505) can be substantially equal to a spacing between the protective layer 505 and the objective lens 503. As such, in some examples, the heating layer may be sandwiched between the protective layer 505 and the objective lens 503.

[0107] The heating layer can be formed from a conductive material that has low optical absorption for light having wavelengths within an operational wavelength range of the imaging system 501. In some examples, the heating layer may be configured to allow transmission of light having wavelengths within an operational wavelength range of the imaging system 501 (e.g., visible wavelength range) from the protective layer to the objective lens 503 via its thickness. In some examples, a thickness of the heating layer may be selected based on optical absorption of its structural material such that the heating layer is transparent (e.g., provides an optical transmission greater than 90%) for light or electromagnetic radiation having wavelengths within the operational wavelength range of the corresponding imaging system.

[0108] In some examples, the heating layer can be a layer of indium tin oxide (ITO) formed between the protective layer and the objective lens 503. In various implementations, the heating layer may be fabricated by Physical Vapor Deposition (PVD), Sputtering, or Electron-Beam Evaporation among other methods.

[0109] In some examples, after fabrication of the protective layer 505, the heating layer may be formed on the concave inner surface of the protective layer 505 to form a dual-layer structure bound by the convex surface of the protective layer 505 and a concave surface of the heating layer (e.g., an ITO layer). Next, the resulting dual-layer structure may be attached or bonded to the objective lens 503. For example, the concave surface of the dual layer structure comprising ITO may be bonded to the convex surface of the objective lens 503 by a bonding method (e.g., thermal bonding).

[0110] FIG. 6A schematically illustrates a side cross-sectional view of a wide-angle imaging system 600 comprising a fisheye (or a wide-angle) objective lens 603 protected by a protective layer 605 (e.g. a curved protective layer), an image sensor 516, and an imaging lens group 504 that receives light from the objective lens 603 and forms an image on the image sensor 516. The wide-angle imaging system 600 can include one or more features described above with respect to the imaging systems 500 and / or 501 .

[0111] In some embodiments, the protective layer 605 may include a dome-shaped layer having uniform thickness between an outer convex surface and an inner concave surface. In some cases,the protective layer 605 may have a thickness (e.g., along the radial direction) that varies from a central region of the protective layer 605 (near the optical axis 520) toward an edge region of the protective layer. In some examples, the thickness of the protective layer 605 may vary uniformly in all directions from a center of protective layer 605 (where the optical axis 520 intercepts the protective layer 605) toward the edge region. In some cases, the thickness of the protective layer 605 may be tapered or flared from the center of the protective layer 605 toward the edge region. In some cases, the protective layer 605 may include a meniscus lens comprising a concave inner surface having a radius of curvature different from (e.g., greater than) a radius of curvature of a convex outer surface of the protective layer 605. In some examples, the protective layer 605 can have a constant thickness or a maximum thickness from 0.1 mm to 0.5 mm, from 0.5 to 1 mm, from 1 mm to 1 .5 mm, from 1.5 to 2 mm, from 2 to 4 mm, from 4 to 6 mm, or any ranges formed by these values or larger or smaller.

[0112] In some embodiments, the inner concave radius of curvature of the protective layer 605 can be different from (e.g., smaller than) that of the outer convex surface of the objective lens 603 by more than 5 microns but less than 10 microns, by more than 10 microns but less than 100 microns, by more than 0.1 mm but less than 0.4 mm, by more than 0.4 mm but less than 2 mm, by more than 0.4 mm but less than 1 mm, more than 1 mm but less than 5 mm, or other values.

[0113] In some embodiments, an edge region of the protective layer 605 may be connected, attached, or otherwise bonded to the objective lens 603 such that the outer convex surface of the objective lens is separated or isolated from the surrounding environment by the protective layer 605. In some such embodiments, where radius of inner concave radius of curvature of the protective layer 605 is smaller than that of the outer convex surface of the objective lens 603 (such as the example shown in FIG. 6A), a gap may be formed between the inner concave surface of the protective layer 605 and the outer convex surface of the objective lens 603. In some examples, the size (g) 608 of the gap in the radial direction (perpendicular to the inner convex surface of the protective layer), can be tapered from the center of the protective layer 605 toward the edge region. In some examples, the maximum size (gmax) of the gap (e.g., at the center of the protective layer) can be from 0.05 mm to 0.1 mm, from 0.1 mm to 1 mm, from 1 mm to 2 mm, or any ranges formed by these values or larger or smaller.

[0114] In some embodiments, the gap formed between the protective layer 605 and the objective lens 603 may allow fluidic connection (e.g., air flow 612) between the volume enclosed between the protective layer 605 and the objective lens 603 and the surrounding environment and / or an inner volume of the enclosure 513 within which the imaging lens group 504 and a portion of the objective lens 603 are enclosed.

[0115] In some embodiments, one or more of the radii of curvature of the outer convex surface and inner concave surface of the protective layer 605, thickness of the protective layer 605, thickness of the air gap formed between the protective layer 605 and the objective lens 603, refractive index of the protective layer 605 may be designed, tailored, or selected based on characteristics and properties of the objective lens 603 to reduce the optical impact of the protective layer on the imaging system 600 (e.g., to reduce the deviation of the optical rays incident on the objective lens 603 from their original directions and / or points of incidence in the absence of the protective layer 605).

[0116] In some examples, the protective layer 605 may improve the optical performance of the imaging system 600 while protecting the objective lens 603 and without reducing intensity of light received by the objective lens 603. For example, in some cases, the protective layer 605 (e.g., a meniscus lens) may be configured to provide a specified optical power and contribute to the formation of an image on the image sensor.

[0117] In some embodiments, the imaging system 600 may further include a heating layer 606 (e.g., am electric heating layer) formed on the concave inner surface of the protective layer 605 (facing the objective lens 603). The heating layer 606 may be configured to generate heat, to increase the temperature of at least the protective layer 605, in response to receiving electric current from a source of electric power (e.g., an electric power supply 610). The heating layer 606 may include a curved surface conforming to the curvature of the concave surface of the protective layer 605. In some examples, the thickness of the heating layer 606 (e.g., along a radial direction perpendicular to the concave surface of the protective layer 605) can be from 20 nm to 100 nm, from 100 nm to 1 micrometer, from 1 micrometer to 2 micrometer or larger.

[0118] The heating layer 606 may include a conductive material that has low optical absorption for light having wavelengths within an operational wavelength range of the imaging system 600. In some examples, the heating layer 606 may allow transmission of light having wavelengths within an operational wavelength range of the imaging system 600 (e.g., visible wavelength range) from the protective layer 605 to the objective lens 603 via its thickness. In some embodiments, the thickness and material composition of the heating layer 60 may be selected to transmit more than 80%, more than 85%, more than 90%, more than 95%, or more than 97% of light or electromagnetic radiation having wavelengths within an operational wavelength range of the imaging system 600 through its thickness. In some examples, the heating layer 606 can be a layer of indium tin oxide (ITO). In some examples, the heating layer 606 can be a transparent conductive layer formed from another material, a combination of materials, nanostructures,nanoparticles (e.g., metallic nanoparticles, such as gold or silver nanoparticles), nanowires, and the like.

[0119] In some examples, after fabrication of the protective layer 605, the heating layer 606 may be formed on the concave inner surface of the protective layer 605 to form a dual-layer structure bound by the convex surface of the protective layer 605 and a concave surface of the heating layer 606 (e.g., the ITO layer). Next, the resulting dual-layer structure may be aligned attached or bonded to the objective lens 603 via the edge regions of the protective layer 605 and the objective lens 603. In some examples, the edge regions may be connected using an adhesive (e.g., UV curable glue), thermal bonding, or a combination thereof.

[0120] In some examples, one or more side openings may be provided between the edge region of the protective layer 605 and the objective lens 603 to allow fluidic flow (e.g., air flow 612) from the volume enclosed between the protective layer 605 and the objective lens 603 and the surrounding environment or the enclosure 518, or vice versa.

[0121] Figure 6B schematically illustrates a front view of the protective layer 605 of the imaging system 600 depicting the electrical connection between the heating layer 606 and the electric power supply 610, and two side openings g1 , g2, configured to connect the volume enclosed between the protective layer 605 and the objective lens 603 and the surrounding environment (or the enclosure 518). In some cases, the side openings g1 , g2, may have different sizes (e.g., thickness and width) and may be disposed at different angular positions with respect to the center of the protective layer 605. In various implementations, a lateral width of any if the side openings g1 , g2, in a direction parallel to a plane perpendicular to the optical axis 520 can be from 0.5 to 1 mm, from 1 mm to 2 mm, from 2 to 5 mm, from 5 to 10 mm or any ranges formed by these values or larger or smaller. In various implementations, a lateral width of any if the side openings g1 , g2, in a direction parallel to a plane perpendicular to the optical axis 520 can be greater than 5%, 10%, 20%, or 30% of the circumference of the protective layer 605.

[0122] FIG. 7A schematically illustrates a side cross-sectional view of a wide-angle imaging system 700 comprising a fisheye (or a wide-angle) objective lens 703 protected by a protective layer 705, and an imaging lens group 504. The wide-angle imaging system 700 can include one or more features described above with respect to the imaging systems 600, 500 and 501.

[0123] In some embodiments, the protective layer 705 may include one or more features described above with respect to the protective layer 605.

[0124] In some embodiments, the inner concave radius of curvature of the protective layer 705 can be substantially equal to that of the objective lens 703. In some embodiments, the inner concave radius of curvature of the protective layer 705 can be different from (e.g., smaller than)that of the outer convex surface of the objective lens 703 by more than 0.1 mm but less than 0.4 mm, more than 0.4 mm but less than 0.8 mm, more than 0.8 mm but less than 1 mm, more than 1 mm but less than 2 mm, or other values.

[0125] In some embodiments, a spacer 704 may be disposed between edge regions of the protective layer 705 and the objective lens 703 to connect the edge region of the protective layer 705 and the edge region of the objective lens 703 and to provide a gap between the protective layer 705 and the objective lens 703. In some such embodiments, the size of the gap or the radial distance between the inner concave surface of the protective layer 705 and the outer convex surface of the objective lens 703, in the radial direction, may be defined by the spacer 704. In some examples, the spacer 704 may be configured to provide a specified gaps size or a specified radial distance between the protective layer 705 and the objective lens 703. In some embodiments, the specified gaps size or radial distance can be from 0.05 mm to 0.1 mm, from 0.1 mm to 1 mm, from 1 mm to 2 mm, or any ranges formed by these values or larger or smaller.

[0126] In some embodiments, the gap formed between the protective layer 705 and the objective lens 703 may allow fluidic connection (e.g., air flow 612) between the volume enclosed between the protective layer 705 and the objective lens 703 and the surrounding environment and / or an inner volume of the enclosure 518 within which the imaging lens group 504 and a portion of the objective lens 703 are enclosed.

[0127] In some embodiments, the spacer 704 may be configured to provide a gap between the protective layer 705 and the objective lens 703 without reducing or by minimally reducing the FOV and / or of the imaging system or a region of the objective lens 703 that can transmit light from a scene to the imaging lens group 504. For example, the spacer 704 may be disposed at or very close to an edge of the protective layer 705. In some embodiments, the spacer 704 can include multiple angular segments distributed at different angular positions near the edge of the protective layer 705. In some cases, the protective layer 704 may comprise a material that is transparent withing an operational wavelength range of the imaging system 700.

[0128] In some embodiments, one or more of the radii of curvature of the outer convex surface and inner concave surface of the protective layer 705, thickness of the protective layer 705, thickness of the air gap formed between the protective layer 705 and the objective lens 603, refractive index of the protective layer 705 may be designed, tailored, or selected based on characteristics and properties of the objective lens 703 to reduce the optical impact of the protective layer on the imaging system 700 (e.g., to reduce the deviation of the optical rays incident on the objective lens 703 from their original directions and / or points of incidence in the absence of the protective layer 705.

[0129] In some examples, the protective layer 705 may improve the optical performance of the imaging system 700 while protecting the objective lens 603 and without reducing intensity of light received by the objective lens 703. For example, in some cases, the protective layer 705 (e.g., a meniscus lens) may be configured to provide a specified optical power and contribute to the formation of an image on the image sensor.

[0130] In some embodiments, the imaging system 700 may further include a heating layer 706 formed on the concave inner surface of the protective layer 705 (facing the objective lens 703). The heating layer 706 may be configured to increase the temperature of at least the protective layer 705 in response to receiving electric current from a source of electric power (e.g., an electric power supply 610). The heating layer 706 may include a curved surface conforming to the curvature of the concave surface of the protective layer 705. In some examples, the thickness of the heating layer 706 (e.g., along a radial direction perpendicular to the concave surface of the protective layer 705) can be from 20 nm to 100 nm, from 100 nm to 1 micrometer, or larger. The heating layer 706 may include one or more features described above with respect to the heating layer 606.

[0131] In some examples, the spacer 704 may include one or more side openings configured to allow fluidic flow (e.g., air flow 612) from the volume enclosed between the protective layer 705 and the objective lens 703 and the surrounding environment or the enclosure 518, or vice versa.

[0132] Figure 7B schematically illustrates a front view of the protective layer 705 depicting the electrical connection between the heating layer 606 and the electric power supply 610, and two side openings g3, g4, formed in the spacer 704 and configured to connect the volume enclosed between the protective layer 705 and the objective lens 703 and the surrounding environment (or the enclosure 518). In some cases, the side openings g3, g4, may have different sizes (e.g., thickness and width) and may be disposed at different angular positions with respect to the center of the protective layer 705.

[0133] In various implementations, the heating layer 606, 706, or a heating layer between the protective layer 505 and the objective lens 503 may be fabricated by physical vapor deposition (PVD), sputtering, electron-beam evaporation.

[0134] In various imaging systems described above, one or both the protective layer and the objective lens may include an antireflection (AR) coating configured to reduce reflection (e.g., Fresnel reflection) from a surface facing the scene within the operational wavelength range of the imaging system. In some cases, the AR coating may be deposited on a convex outer surface of the protective layer and / or the objective lens.Example Embodiments

[0135] Example embodiments described herein have several features, no single one of which is indispensable or solely responsible for their desirable attributes. A variety of example systems and methods are provided below.

[0136] Example 1. An imaging system, comprising: an objective lens configured to capture light rays received from a scene within a field of view (FOV) of the imaging system; a group of lenses configured to receive light from the objective lens and form an image on an image sensor; and a curved protective layer separating the scene from the objective lens to protect the objective lens, wherein a difference between hardness of the protective layer and the objective lens is greater than 500 KHN.

[0137] Example 2. The imaging system of Example 1 , wherein the objective lens comprises a wide-angle lens or a fisheye lens.

[0138] Example s. The imaging system of Example 1 , wherein the FOV is larger than 150 degrees.

[0139] Example 4. The imaging system of Example 1 , wherein focal length of the objective lens is smaller than 16 millimeters.

[0140] Example 5. The imaging system of Example 1, wherein the protective layer comprises sapphire.

[0141] Example 6. The imaging system of Example 5, wherein the protective layer comprises a dome-shaped layer having a convex outer surface facing the scene and a concave surface facing a convex surface of the objective lens.

[0142] Example 7. The imaging system of Example 6, wherein a radius of curvature of the convex outer surface is different from a radius of curvature of the concave surface.

[0143] Example 8. The imaging system of Example 6, wherein a radius of curvature of the convex outer surface is smaller than the radius of curvature of the concave surface.

[0144] Example 9. The imaging system of Example 6, wherein a radius of curvature of the convex outer surface is substantially equal to the radius of curvature of the concave surface.

[0145] Example 10. The imaging system of Example 6, wherein a radius of curvature of a convex outer surface of the objective lens is substantially equal to the radius of curvature of the concave surface of the protective layer.

[0146] Example 11. The imaging system of Example 10, wherein the protective layer is disposed on the objective lens forming a common interface.

[0147] Example 12. The imaging system of Example 6, wherein aradius of curvature of a convex outer surface of the objective lens is greater than a radius of curvature of the concave surface of the protective layer.

[0148] Example 13. The imaging system of Example 12, wherein an edge region of the protective layer is connected or bonded to an edge region of the objective lens to form a gap between a central region of the protective layer and a central region of the objective lens.

[0149] Example 14. The imaging system of Example 1, further comprising a spacer connecting an edge region of the protective layer to an edge region of the objective lens to form a gap between a central region of the protective layer and a central region of the objective lens.

[0150] Example 15. The imaging system of any one of Examples 13 and 14, wherein a size of the gap along a direction perpendicular to a major surface of the protective layer is greater than 0.05 millimeter.

[0151] Example 16. The imaging system of any one of Examples 13 and 14, further comprising an opening connecting a volume between the protective layer and the objective lens to a surrounding environment or an enclosure containing the group of lenses.

[0152] Example 17. The imaging system of Example 1, wherein a thickness of the protective layer along a direction perpendicular to a major surface of the protective layer is greater than 0.5 millimeter.

[0153] Example 18. The imaging system of Example 17, wherein the thickness of the protective layer is smaller than 2 millimeter.

[0154] Example 19. The imaging system of Example 1 , further comprising a transparent heating layer disposed between the protective layer and the objective lens, the heating layer configured to provide heat at least the protective layer.

[0155] Example 20. The imaging system of Example 19, wherein the heating layer is electrically conductive and is transparent within an operational wavelength range of the imaging system.

[0156] Example 21. The imaging system of Example 19, wherein the heating layer is configured to provide an optical transmission greater than 90% within an operational wavelength range of the imaging system.

[0157] Example 22. The imaging system of Example 21 , wherein the heating layer comprises indium tin oxide (ITO).

[0158] Example 23. The imaging system of Example 22, wherein a thickness of the heating layer is from 10 nm to 1000 nm.

[0159] Example 24. The imaging system of Example 19, wherein the heating layer is disposed on an inner concave surface of the protective layer facing the objective lens.

[0160] Example 25. The imaging system of Example 19, wherein the heating layer is electrically connected to an electric power supply to receive electric current.

[0161] Example 26. The imaging system of Example 25, wherein the heating layer is configured to generate heat in response to receiving the electric current.

[0162] Example 27. The imaging system of Example 1 , wherein the protective layer has an optical transmission greater than 95% within an operational wavelength range of the imaging system.

[0163] Example 28. The imaging system of Example 1 , further comprising an image sensor, wherein the imaging system is configured to generate an image of the scene on the image sensor.

[0164] Example 29. The imaging system of any one of Examples 21 and 27, wherein the operational wavelength range of the imaging system is within visible wavelength range.

[0165] Example 30. The imaging system of any one of Examples 21 and 27, wherein the operational wavelength range of the imaging system is within mid-wave infrared (MWIR) or long-wave infrared wavelength range (LWIR).

[0166] Example 31. An imaging system, comprising: an objective lens configured to capture light rays received from a scene within a field of view (FOV) of the imaging system; a group of lenses configured to receive light from the objective lens and form an image on an image sensor; a curved protective layer separating the scene from the objective lens; and a transparent heating layer disposed between the objective lens and the protective layer, wherein the transparent heating layer is configured to generate and provide heat at least to the protective layer.

[0167] Example 32. The imaging system of Example 31 , wherein a thickness of the protective layer along a direction perpendicular to a major surface of the protective layer is greater than 0.5 millimeter.

[0168] Example 33. The imaging system of Example 32, wherein the thickness of the protective layer is smaller than 2 millimeter.

[0169] Example 34. The imaging system of Example 31 , wherein the heating layer is electrically conductive and is transparent within an operational wavelength range of the imaging system.

[0170] Example 35. The imaging system of Example 31 , wherein the heating layer is configured to provide an optical transmission greater than 90% within an operational wavelength range of the imaging system.

[0171] Example 36. The imaging system of Example 35, wherein the heating layer comprises indium tin oxide.

[0172] Example 37. The imaging system of Example 31, wherein a thickness of the heating layer is from 10 nm to 1000 nm.

[0173] Example 38. The imaging system of Example 31 , wherein the heating layer is disposed on an inner concave surface of the protective layer facing a convex surface of the objective lens.

[0174] Example 39. The imaging system of Example 38, wherein a radius of curvature of the concave surface of the protective layer is substantially equal to a radius of curvature of the convex surface of the objective lens.

[0175] Example 40. The imaging system of Example 38, wherein at least a central region of the heating layer is separated from the objective lens by a gap from the convex surface of the objective lens

[0176] Example 41 . The imaging system of Example 40, wherein a radius of curvature of the concave surface of the protective layer is smaller than to a radius of curvature of the convex surface of the objective lens.

[0177] Example 42. The imaging system of Example 31 , wherein the heating layer is electrically connected to an electric power supply to receive electric current.

[0178] Example 43. The imaging system of Example 31 , wherein the protective layer has an optical transmission greater than 95% within an operational wavelength range of the imaging system.

[0179] Example 44. The imaging system of any one of Examples 35 and 43, wherein the operational wavelength range of the imaging system is within visible wavelength range.

[0180] Example 45. The imaging system of any one of Examples 35 and 43, wherein the operational wavelength range of the imaging system is within mid-wave infrared (MWIR) or long-wave infrared wavelength range (LWIR).

[0181] Example 46. The imaging system of Example 31 , wherein the objective lens comprises a wide-angle lens or a fisheye lens.

[0182] Example 47. The imaging system of Example 31 , wherein the FOV is larger than 150 degrees.

[0183] Example 48. The imaging system of Example 31 , wherein focal length of the objective lens is smaller than 16 millimeters.

[0184] Example 49. The imaging system of Example 31, wherein the protective layer comprises sapphire.

[0185] Example 50. An imaging system comprising: an objective lens configured to capture light rays received from a scene within a field of view (FOV) of the imaging system; a group of lenses configured to receive light from the objective lens and form an image on an image sensor; a curved protective layer separating the scene from the objective lens, wherein edge regions of the protective layer and the objective layer are connected and a central portion of the protective layer is separated from a central portion of the objective by a gap.

[0186] Example 51. The imaging system of Example 49, wherein an edge region of the protective layer is connected or bonded to an edge region of the objective lens to form a gap between a central region of the protective layer and a central region of the objective lens.

[0187] Example 52. The imaging system of Example 50, further comprising a spacer connecting an edge region of the protective layer to an edge region of the objective lens to form a gap between a central region of the protective layer and a central region of the objective lens.

[0188] Example 53. The imaging system of any one of Examples 50 and 51 , wherein a size of the gap along a direction perpendicular to a major surface of the protective layer is greater than 0.05 millimeter.

[0189] Example 54. The imaging system of Example 49, wherein the objective lens comprises a wide-angle lens or a fisheye lens.

[0190] Example 55. The imaging system of Example 49, wherein the FOV is larger than 150 degrees.

[0191] Example 56. The imaging system of Example 49, wherein focal length of the objective lens is smaller than 16 millimeters.

[0192] Example 57. The imaging system of Example 49, further comprising a transparent heating layer disposed between the protective layer and the objective lens, the heating layer configured to provide heat at least the protective layer.

[0193] Example 58. The imaging system of Example 56, wherein the heating layer is electrically conductive and is transparent within an operational wavelength range of the imaging system.

[0194] Example 59. The imaging system of Example 57, wherein a thickness of the heating layer is from 10 nm to 1000 nm.

[0195] Example 60. The imaging system of Example 57, wherein the heating layer is configured to provide an optical transmission greater than 90% within an operational wavelength range of the imaging system.

[0196] Example 61 . The imaging system of Example 56, wherein the heating layer comprises indium tin oxide.

[0197] Example 62. The imaging system of Example 56, wherein the heating layer is disposed on an inner concave surface of the protective layer facing the objective lens.

[0198] Example 63. The imaging system of Example 56, wherein the heating layer is electrically connected to an electric power supply to receive electric current.

[0199] Example 64. A method of fabricating a protected objective lens, the method comprising: forming a protective layer comprising a first material; providing an objective lens comprising a second material; forming a transparent heating layer on surface of the protective layer; bonding the protective layer to the objective lens such that the heating layer faces the objective lens.

[0200] Example 65. The method of Example 64, forming a transparent heating layer on surface of the protective layer comprise depositing the heating layer using a physical deposition method.

[0201] Example 66. The method of Example 65, wherein the physical deposition method comprises sputtering, physical vapor deposition (PVD), or electron-beam evaporation.

[0202] Example 67. The method of Example 64, wherein the heating layer comprises indium tin oxide.

[0203] Example 68. The method of Example 64, wherein difference between hardness of the first and second material is greater than 500 KHN.

[0204] Example 69. The method of Example 64, wherein the protective layer comprises sapphire.

[0205] Example 70. The method of Example 64, wherein a thickness of the protective layer along a direction perpendicular to a major surface of the protective layer is greater than 0.5 millimeter.

[0206] Example 71. The method of Example 70, wherein the thickness of the protective layer is smaller than 2 millimeter.

[0207] Example 72. The method of Example 64, wherein a thickness of the heating layer is from 10 nm to 1000 nm.

[0208] Example 73. The method of Example 64, wherein the heating layer is electrically conductive and is transparent within an operational wavelength range of the protected objective lens.

[0209] Example 74. The method of Example 64, wherein the heating layer is configured to provide an optical transmission greater than 90% within an operational wavelength range of protected objective lens.

[0210] Example 75. The method of Example 64, wherein connecting the protective layer to the objective lens comprises bonding the protective layer to the objective lens.

[0211] Example 76. The method of Example 75, wherein connecting the protective layer to the objective lens comprises forming a common interface between protective layer to the objective lens near a central region of the protective layer to the objective lens.

[0212] Example 77. The method of Example 64, wherein connecting the protective layer to the objective lens comprises connecting an edge region of the protective layer to and edge region of the objective lens to form a gap between a central region of the protective layer and a central region of the objective lens.

[0213] Example 78. The method of Example 77, wherein radius of curvature of the protective layer is smaller than the radius of curvature of the of the objective lens.Terminology

[0214] In this description numerous specific details are set forth in order to provide a thorough understanding of the present disclosure for the purposes of explanation. It will be apparent, however, that the embodiments described by the present disclosure can be practiced without these specific details. In some instances, well-known structures and devices are illustrated in block diagram form in order to avoid unnecessarily obscuring aspects of the present disclosure.

[0215] Specific arrangements or orderings of schematic elements, such as those representing systems, devices, modules, instruction blocks, data elements, and / or the like are illustrated in the drawings for ease of description. However, it will be understood by those skilled in the art that thespecific ordering or arrangement of the schematic elements in the drawings is not meant to imply that a particular order or sequence of processing, or separation of processes, is required unless explicitly described as such. Further, the inclusion of a schematic element in a drawing is not meant to imply that such element is required in all embodiments or that the features represented by such element cannot be included in or combined with other elements in some embodiments unless explicitly described as such.

[0216] Although the terms first, second, third, and / or the like are used to describe various elements, these elements should not be limited by these terms. The terms first, second, third, and / or the like are used only to distinguish one element from another. For example, a first contact could be termed a second contact and, similarly, a second contact could be termed a first contact without departing from the scope of the described embodiments. The first contact and the second contact are both contacts, but they are not the same contact.

[0217] The terminology used in the description of the various described embodiments herein is included for the purpose of describing particular embodiments only and is not intended to be limiting. As used in the description of the various described embodiments and the appended claims, the singular forms “a,” “an” and “the” are intended to include the plural forms as well and can be used interchangeably with “one or more” or “at least one,” unless the context clearly indicates otherwise. It will also be understood that the term “and / or” as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. It will be further understood that the terms “includes,” “including,” “includes,” and / or “comprising,” when used in this description specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0218] As used herein, the term “if” is, optionally, construed to mean “when”, “upon”, “in response to determining,” “in response to detecting,” and / or the like, depending on the context. Similarly, the phrase “if it is determined” or “if [a stated condition or event] is detected” is, optionally, construed to mean “upon determining,” “in response to determining,” “upon detecting [the stated condition or event],” “in response to detecting [the stated condition or event],” and / or the like, depending on the context. Also, as used herein, the terms “has”, “have”, “having”, or the like are intended to be open-ended terms. Further, the phrase “based on” is intended to mean “based at least partially on” unless explicitly stated otherwise.

Claims

WHAT IS CLAIMED IS:

1. An imaging system, comprising: an objective lens configured to capture light rays received from a scene within a field of view (FOV) of the imaging system; a group of lenses configured to receive light from the objective lens and form an image on an image sensor; and a curved protective layer separating the scene from the objective lens to protect the objective lens, wherein a difference between hardness of the protective layer and the objective lens is greater than 500 KHN.

2. The imaging system of claim 1 , wherein the objective lens comprises a wide-angle lens or a fisheye lens.

3. The imaging system of claim 1 , wherein the FOV is larger than 150 degrees.

4. The imaging system of claim 1 , wherein focal length of the objective lens is smaller than 16 millimeters.

5. The imaging system of claim 1, wherein the protective layer comprises sapphire.

6. The imaging system of claim 1 , wherein the protective layer comprises a domeshaped layer having a convex outer surface facing the scene and a concave surface facing a convex surface of the objective lens.

7. The imaging system of claim 6, wherein a radius of curvature of the convex outer surface is different from a radius of curvature of the concave surface.

8. The imaging system of claim 6, wherein a radius of curvature of the convex outer surface is smaller than the radius of curvature of the concave surface.

9. The imaging system of claim 6, wherein a radius of curvature of the convex outer surface is substantially equal to the radius of curvature of the concave surface.

10. The imaging system of claim 6, wherein a radius of curvature of a convex outer surface of the objective lens is substantially equal to the radius of curvature of the concave surface of the protective layer.

11. The imaging system of claim 10, wherein the protective layer is disposed on the objective lens forming a common interface.

12. The imaging system of claim 6, wherein a radius of curvature of a convex outer surface of the objective lens, facing the scene, is greater than a radius of curvature of the concave surface of the protective layer facing the objective lens.

13. The imaging system of claim 12, wherein an edge region of the protective layer is connected or bonded to an edge region of the objective lens to form a gap between a central region of the protective layer and a central region of the objective lens.

14. The imaging system of claim 1 , further comprising a spacer connecting an edge region of the protective layer to an edge region of the objective lens to form a gap at least between a central region of the protective layer and a central region of the objective lens.

15. The imaging system of any one of claims 13 and 14, wherein a maximum size of the gap along a direction perpendicular to a major surface of the protective layer is greater than 0.05 millimeter.

16. The imaging system of any one of claims 13 and 14, further comprising an opening connecting a volume between the protective layer and the objective lens to a surrounding environment or an enclosure containing the group of lenses.

17. The imaging system of claim 1, wherein a thickness of the protective layer along a direction perpendicular to a major surface of the protective layer is greater than 0.5 millimeter.

18. The imaging system of claim 17, wherein the thickness of the protective layer is smaller than 2 millimeters.

19. The imaging system of claim 1 , further comprising a transparent heating layer disposed between the protective layer and the objective lens, the heating layer configured to provide heat at least the protective layer.

20. The imaging system of claim 19, wherein the heating layer is electrically conductive and is transparent within an operational wavelength range of the imaging system.21 . The imaging system of claim 19, wherein the heating layer is configured to provide an optical transmission greater than 90% within an operational wavelength range of the imaging system.

22. The imaging system of claim 21 , wherein the heating layer comprises indium tin oxide.

23. The imaging system of claim 22, wherein a thickness of the heating layer is from 10 nm to 1000 nm.

24. The imaging system of claim 19, wherein the heating layer is disposed on an inner concave surface of the protective layer facing the objective lens.

25. The imaging system of claim 19, wherein the heating layer is electrically connected to an electric power supply to receive electric current.

26. The imaging system of claim 25, wherein the heating layer is configured to generate heat in response to receiving the electric current.

27. The imaging system of claim 1 , wherein the protective layer has an optical transmission greater than 95% within an operational wavelength range of the imaging system.

28. The imaging system of claim 1 , further comprising an image sensor, wherein the imaging system is configured to generate an image of the scene on the image sensor.

29. The imaging system of any one of claims 21 and 27, wherein the operational wavelength range of the imaging system is within visible wavelength range.

30. The imaging system of any one of claims 21 and 27, wherein the operational wavelength range of the imaging system is within mid-wave infrared (MWIR) or long-wave infrared wavelength range (LWIR).

31. An imaging system, comprising: an objective lens configured to capture light rays received from a scene within a field of view (FOV) of the imaging system; a group of lenses configured to receive light from the objective lens and form an image on an image sensor; a curved protective layer separating the scene from the objective lens; and a transparent heating layer disposed between the objective lens and the protective layer, the transparent heating layer configured to provide heat at least to the protective layer.

32. The imaging system of claim 31 , wherein a thickness of the protective layer along a direction perpendicular to a major surface of the protective layer is greater than 0.5 millimeter.

33. The imaging system of claim 32, wherein the thickness of the protective layer is smaller than 2 millimeters.

34. The imaging system of claim 31 , wherein the heating layer is electrically conductive and is transparent within an operational wavelength range of the imaging system.

35. The imaging system of claim 31 , wherein the heating layer is configured to provide an optical transmission greater than 90% within an operational wavelength range of the imaging system.

36. The imaging system of claim 35, wherein the heating layer comprises indium tin oxide.

37. The imaging system of claim 31 , wherein a thickness of the heating layer is from 10 nm to 1000 nm.

38. The imaging system of claim 31 , wherein the heating layer is disposed on an inner concave surface of the protective layer facing a convex surface of the objective lens.

39. The imaging system of claim 38, wherein a radius of curvature of the concave surface of the protective layer is substantially equal to a radius of curvature of the convex surface of the objective lens.

40. The imaging system of claim 38, wherein at least a central region of the heating layer is separated from the objective lens by a gap from the convex surface of the objective lens41 . The imaging system of claim 40, wherein a radius of curvature of the concave surface of the protective layer is smaller than to a radius of curvature of the convex surface of the objective lens.

42. The imaging system of claim 31 , wherein the heating layer is electrically connected to an electric power supply to receive electric current.

43. The imaging system of claim 31, wherein the protective layer has an optical transmission greater than 95% within an operational wavelength range of the imaging system.

44. The imaging system of any one of claims 35 and 43, wherein the operational wavelength range of the imaging system is within visible wavelength range.

45. The imaging system of any one of claims 35 and 43, wherein the operational wavelength range of the imaging system is within mid-wave infrared (MWIR) or long-wave infrared wavelength range (LWIR).

46. The imaging system of claim 31 , wherein the objective lens comprises a wide- angle lens or a fisheye lens.

47. The imaging system of claim 31 , wherein the FOV is larger than 150 degrees.

48. The imaging system of claim 31 , wherein focal length of the objective lens is smaller than 16 millimeters.

49. The imaging system of claim 31 , wherein the protective layer comprises sapphire.

50. An imaging system comprising: an objective lens configured to capture light rays received from a scene within a field of view (FOV) of the imaging system; a group of lenses configured to receive light from the objective lens and form an image on an image sensor; a curved protective layer separating the scene from the objective lens, wherein edge regions of the protective layer and the objective layer are connected and a central portion of the protective layer is separated from a central portion of the objective by a gap.

51. The imaging system of claim 49, wherein an edge region of the protective layer is connected or bonded to an edge region of the objective lens to form a gap between a central region of the protective layer and a central region of the objective lens.

52. The imaging system of claim 50, further comprising a spacer connecting an edge region of the protective layer to an edge region of the objective lens to form a gap between a central region of the protective layer and a central region of the objective lens.

53. The imaging system of any one of claims 50 and 51 , wherein a maximum size of the gap along a direction perpendicular to a major surface of the protective layer is greater than 0.05 millimeter.

54. The imaging system of claim 49, wherein the objective lens comprises a wide- angle lens or a fisheye lens.

55. The imaging system of claim 49, wherein the FOV is larger than 150 degrees.

56. The imaging system of claim 49, wherein focal length of the objective lens is smaller than 16 millimeters.

57. The imaging system of claim 49, further comprising a transparent heating layer disposed between the protective layer and the objective lens, the heating layer configured to provide heat at least the protective layer.

58. The imaging system of claim 56, wherein the heating layer is electrically conductive and is transparent within an operational wavelength range of the imaging system.

59. The imaging system of claim 57, wherein a thickness of the heating layer is from 10 nm to 1000 nm.

60. The imaging system of claim 57, wherein the heating layer is configured to provide an optical transmission greater than 90% within an operational wavelength range of the imaging system.

61. The imaging system of claim 56, wherein the heating layer comprises indium tin oxide.

62. The imaging system of claim 56, wherein the heating layer is disposed on an inner concave surface of the protective layer facing the objective lens.

63. The imaging system of claim 56, wherein the heating layer is electrically connected to an electric power supply to receive electric current.

64. A method of fabricating a protected objective lens, the method comprising: forming a protective layer comprising a first material; providing an objective lens comprising a second material; forming a transparent heating layer on surface of the protective layer;connecting the protective layer to the objective lens such that the heating layer faces the objective lens.

65. The method of claim 64, forming a transparent heating layer on surface of the protective layer comprises depositing the heating layer using a physical deposition method.

66. The method of claim 65, wherein the physical deposition method comprises sputtering or evaporation.

67. The method of claim 64, wherein the heating layer comprises indium tin oxide.

68. The method of claim 64, wherein difference between hardness of the first and second material is greater than 500 KHN.

69. The method of claim 64, wherein the protective layer comprises sapphire.

70. The method of claim 64, wherein a thickness of the protective layer along a direction perpendicular to a major surface of the protective layer is greater than 0.5 millimeter.

71. The method of claim 70, wherein the thickness of the protective layer is smaller than 2 millimeters.

72. The method of claim 64, wherein a thickness of the heating layer is from 10 nm to 1000 nm.

73. The method of claim 64, wherein the heating layer is electrically conductive and is transparent within an operational wavelength range of the protected objective lens.

74. The method of claim 64, wherein the heating layer is configured to provide an optical transmission greater than 90% within an operational wavelength range of protected objective lens.

75. The method of claim 64, wherein connecting the protective layer to the objective lens comprises bonding the protective layer to the objective lens.

76. The method of claim 75, wherein connecting the protective layer to the objective lens comprises forming a common interface between protective layer to the objective lens near a central region of the protective layer to the objective lens.

77. The method of claim 64, wherein connecting the protective layer to the objective lens comprises connecting an edge region of the protective layer to and edge region of the objective lens to form a gap between a central region of the protective layer and a central region of the objective lens.

78. The method of claim 77, wherein radius of curvature of the protective layer is smaller than the radius of curvature of the of the objective lens.

Images